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Title: Optimal control and quasi-velocities
Authors: Abrunheiro, Lígia 
Camarinha, Margarida 
Cariñena, José F. 
Clemente-Gallardo, Jesús 
Martínez, Eduardo 
Santos, Patricia 
Issue Date: 2010
Publisher: Centro de Matemática da Universidade de Coimbra
Citation: Pré-Publicações DMUC. 10-05 (2010)
Serial title, monograph or event: Pré-Publicações DMUC
Issue: 10-05
Place of publication or event: Coimbra
Abstract: In this paper we study optimal control problems for nonholonomic systems defined on Lie algebroids by using quasi-velocities. We consider both kinemactic, i.e. systems whose cost functional depends only on position and velocities, and dynamic optimal control problems, i.e. systems whose cost functional depends also on accelarations. Formulating the problem directly at the level of Lie algebroids turns out to be the correct framework to explain in detail similar results appeared recently [48]. We also provide several examples to illustrate our construction
Rights: openAccess
Appears in Collections:FCTUC Matemática - Vários

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