Abstract
Given a set of nonholonomic constraints, there are two interesting associated problems. One of these is nonvariational (namely, the Lagrange–d’Alembert principle) appropriate for the dynamics of constrained mechanical systems, which we studied extensively in Chapter 5, while the other is variational, which is appropriate for optimal control problems. In this chapter we concentrate on these optimal control problems.
Keywords
- Maximum Principle
- Optimal Control Problem
- Nonholonomic Constraint
- Pontryagin Maximum Principle
- Lagrange Problem
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© 2015 Springer-Verlag New York
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Bloch, A.M. (2015). Optimal Control. In: Krishnaprasad, P., Murray, R. (eds) Nonholonomic Mechanics and Control. Interdisciplinary Applied Mathematics, vol 24. Springer, New York, NY. https://doi.org/10.1007/978-1-4939-3017-3_7
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DOI: https://doi.org/10.1007/978-1-4939-3017-3_7
Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4939-3016-6
Online ISBN: 978-1-4939-3017-3
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