"Optimal Control for Holonomic and Nonholonomic Mechanical Systems with Symmetry and Lagrangian Reductions9


In this paper we establish necessary conditions for optimal control using the ideas of Lagrangian reduction in the sense of reduction under a symmetry group. The techniques developed here are designed for Lagrangian mechanical control systems with symmetry. The benefit of such an approach is that it makes use of the special structure of the system… (More)