143 Optimal control and almost analytic feedback for some nonholonomic systems

1993 ◽  
Vol 1 (5) ◽  
pp. 898
Keyword(s):  
Optimal Control ◽  
Nonholonomic Systems

scholarly journals SOME APPLICATIONS OF QUASI-VELOCITIES IN OPTIMAL CONTROL

2011 ◽  
Vol 08 (04) ◽  
pp. 835-851 ◽  
Author(s):  
LÍGIA ABRUNHEIRO ◽  
MARGARIDA CAMARINHA ◽  
JOSÉ F. CARIÑENA ◽  
JESÚS CLEMENTE-GALLARDO ◽  
EDUARDO MARTÍNEZ ◽  
...  
Keyword(s):  
Optimal Control ◽  
Optimal Control Problems ◽  
Nonholonomic Systems ◽  
Lie Algebroids ◽  
Control Problems ◽  
Cost Functional

In this paper we study optimal control problems for nonholonomic systems defined on Lie algebroids by using quasi-velocities. We consider both kinematic, i.e. systems whose cost functional depends only on position and velocities, and dynamic optimal control problems, i.e. systems whose cost functional depends also on accelerations. The formulation of the problem directly at the level of Lie algebroids turns out to be the correct framework to explain in detail similar results appeared recently [20]. We also provide several examples to illustrate our construction.

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