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Symmetries in vakonomic dynamics. Applications to optimal control
S. Martínez, J. Cortés, M. de León
Journal of Geometry and Physics 38 (3-4) (2001), 343-365

Abstract

Symmetries in vakonomic dynamics are discussed. Appropriate notions are introduced and their relationship with previous work on symmetries of singular Lagrangian systems is shown. Some Noether-type theorems are obtained. The results are applied to a class of general optimal control problems and to kinematic locomotion systems.

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