Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Geometric description of vakonomic and nonholonomic dynamics. Comparison of solutions
J. Cortés, M. de León, D. Martín de Diego, S. Martínez
SIAM Journal on Control and Optimization 41 (5) (2003), 1389-1412
Abstract
We treat the vakonomic dynamics with general constraints within a new
geometric framework which can be useful in the study of optimal
control problems. We compare our formulation with the one of Vershik
and Gershkovich in the case of linear constraints. We show how
nonholonomic mechanics also admits a new geometrical description which
allows to develop an algorithm of comparison between the solutions of
both dynamics. Examples illustrating the theory are treated.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
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jorgilliyo