Title :
Optimal control for nonholonomic systems with symmetry
Author :
Cortés, Jorge ; Martínez, Sonia
Author_Institution :
Inst. de Matematicas y Fisica Fundamental, CSIC, Madrid, Spain
Abstract :
We study the optimal control problem for nonholonomic systems with symmetry. This work is motivated by the idea of taking advantage of the geometric structure exhibited by the optimal equations to integrate them
Keywords :
integration; kinematics; optimal control; symmetry; geometric structure; nonholonomic systems; optimal equations; Control systems; Control theory; Controllability; Equations; Geometry; Kinematics; Lagrangian functions; Optimal control; Shape control; Trajectory;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2001.914785
