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Geometric numerical integration of nonholonomic systems and optimal control problems

M. de Leon·D. Martin de Diego·A. Santamaria Merino
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Abstract

A geometric derivation of numerical integrators for nonholonomic systems and optimal control problems is obtained. It is based in the classical technique of generating functions adapted to the special features of nonholonomic systems and optimal control problems.

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M. de Leon, D. Martin de Diego, A. Santamaria Merino. 2002-12-02. Geometric numerical integration of nonholonomic systems and optimal control problems. https://arxiv.org/abs/math-ph/0212007

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