Geometric numerical integration of nonholonomic systems and optimal control problems

Details Geometric numerical integration of nonholonomic systems and optimal control problems Geometric numerical integration of nonholonomic systems and optimal control problems

2002-12-02

arxiv.org/abs/math-ph/0212007v1

Physics

Mathematical Physics

6 pages, 1 figure. Submitted to IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, Sevilla 2003

Scientific paper

A geometric derivation of numerical integrators for nonholonomic systems and
optimal control problems is obtained. It is based in the classical technique of
generating functions adapted to the special features of nonholonomic systems
and optimal control problems.

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