Optimal Control of Mechanical Systems Based on Path-Fitted Variational Integrators
X Kong, S Yu, H Wu - Journal of Computational and …, 2024 - asmedigitalcollection.asme.org
In view of the crucial importance of optimal control in many application areas and the
improved performance of path-fitted variational integrators, the paper links these two aspects …
improved performance of path-fitted variational integrators, the paper links these two aspects …
Hamel equations and quasivelocities for nonholonomic systems with inequality constraints
In this paper we derive Hamel equations for the motion of nonholonomic systems subject to
inequality constraints in quasivelocities. As examples, the vertical rolling disk hitting a wall …
inequality constraints in quasivelocities. As examples, the vertical rolling disk hitting a wall …