The Boltzmann-Hamel equations for the optimal control of mechanical systems with nonholonomic constraints
نویسندگان
چکیده
منابع مشابه
The Boltzmann–Hamel equations for the optimal control of mechanical systems with nonholonomic constraints
In this paper, we generalize the Boltzmann–Hamel equations for nonholonomic mechanics to a form suited for the kinematic or dynamic optimal control of mechanical systems subject to nonholonomic constraints. In solving these equations one is able to eliminate the controls and compute the optimal trajectory from a set of coupled first-order differential equations with boundary values. By using an...
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ژورنال
عنوان ژورنال: International Journal of Robust and Nonlinear Control
سال: 2011
ISSN: 1049-8923
DOI: 10.1002/rnc.1598