Quasivelocities and Optimal Control for Underactuated Mechanical Systems
arXiv:1003.1013 · doi:10.1063/1.3479314
Abstract
This paper is concerned with the application of the theory of quasivelocities for optimal control for underactuated mechanical systems. Using this theory, we convert the original problem in a variational second-order lagrangian system subjected to constraints. The equations of motion are geometrically derived using an adaptation of the classical Skinner and Rusk formalism.
8 pages