Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
712022 | IFAC-PapersOnLine | 2015 | 6 Pages |
Abstract
This paper explores the relationship between optimal control problems for underactuated mechanical systems with symmetries and the classical calculus of variations problem for constrained higher-order mechanical systems, where the configuration space of both problems are principal bundles. We give necessary optimality conditions for the optimal control problem using the constrained higherorder Lagrange-Poincaré equations which are derived from the constrained higher-order variational problem.
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Computational Mechanics