In this paper, we study a discrete variational optimal control problem for a rigid body. The
cost to be minimized is the external torque applied to move the rigid body from an initial …

In this paper we study a discrete variational optimal control problem for the rigid body. The
cost to be minimized is the external torque applied to move the rigid body from an initial …

We consider the optimal control of mechanical systems on Lie groups and develop
numerical methods that exploit the structure of the state space and preserve the system …

This paper formulates optimal control problems for rigid bodies in a geometric manner and it
presents computational procedures based on this geometric formulation for numerically …

This paper studies the optimal motion control of mechanical systems through a discrete
geometric approach. At the core of our formulation is a discrete Lagrange-d'Alembert …

This paper develops numerical methods for optimal control of mechanical systems in the
Lagrangian setting. It extends the theory of discrete mechanics to enable the solutions of …

Discrete control systems, as considered here, refer to the control theory of discrete-time
Lagrangian or Hamiltonian systems. These discrete-time models are based on a discrete …

In this paper we study optimality conditions for the finite time horizon, constrained optimal
trajectory tracking problem on the group of rigid body motions SE (3). We treat SE (3) as a …

Discrete rigid body dynamics and optimal control Page 1 TM06 1500 Proceedings of the 37th
IEEE Conference on Decision & Control Tampa, Florida USA December 1998 Discrete Rigid …

The equations of motion of a controlled mechanical system subject to holonomic constraints
may be formulated in terms of the states and controls by applying a constrained version of …