Optimal control of constrained mechanical systems in redundant coordinates: formulation and structure-preserving discretization

Hamilton's equations (70H05) Control of mechanical systems (70Q05) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Optimality conditions for problems involving ordinary differential equations (49K15)

Cites Work

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