On variational integrators for optimal control of mechanical control systems
In this paper we study discrete second-order vakonomic mechanics, that is, constrained variational problems for second-order lagrangian systems. One of the main applications of the presented theory will be optimal control of underactuated mechanical control systems. We derive geometric integrators w...
Guardado en:
| Autores principales: | Colombo, Leonardo, Diego, David Martín de, Zuccalli, Marcela |
|---|---|
| Formato: | Articulo |
| Lenguaje: | Inglés |
| Publicado: |
2011
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| Materias: | |
| Acceso en línea: | http://sedici.unlp.edu.ar/handle/10915/130746 |
| Aporte de: |
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