• DocumentCode
    3012024
  • Title

    Optimal control for nonholonomic systems with symmetry

  • Author

    Cortés, Jorge ; Martínez, Sonia

  • Author_Institution
    Inst. de Matematicas y Fisica Fundamental, CSIC, Madrid, Spain
  • Volume
    5
  • fYear
    2000
  • fDate
    2000
  • Firstpage
    5216
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
  • Conference_Location
    Sydney, NSW
  • ISSN
    0191-2216
  • Print_ISBN
    0-7803-6638-7
  • Type

    conf

  • DOI
    10.1109/CDC.2001.914785
  • Filename
    914785
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3012024