Geometric numerical integration of nonholonomic systems and optimal control problems

被引：13

作者：

de León, M ^{[1
]}

de Diego, DM ^{[1
]}

Santamaría-Merino, A ^{[1
]}

机构：

[1] CSIC, Inst Matemat & Fis Fundamental, E-28006 Madrid, Spain

来源：

EUROPEAN JOURNAL OF CONTROL | 2004年 / 10卷 / 05期

关键词：

geometric integrators; nonholonomic systems; optimal control;

D O I：

10.3166/ejc.10.515-521

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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

引用

页码：515 / 521

页数：7

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