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Discrete rigid body dynamics and optimal control

Bloch, Anthony M. and Crouch, Peter E. and Marsden, Jerrold E. and Ratiu, Tudor S. (1998) Discrete rigid body dynamics and optimal control. In: IEEE Conference on Decision and Control, 37th, Tampa, FL, December 1998. Vol.2. Institute of Electrical and Electronics Engineers , Piscataway, NJ, pp. 2249-2254. ISBN 0-7803-4394-8 http://resolver.caltech.edu/CaltechAUTHORS:BLOieeecdc98b

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Abstract

We analyze an alternative formulation of the rigid body equations, their relationship with the discrete rigid body equations of Moser-Veselov (1991) and their formulation as an optimal control problem. In addition we discuss a general class of discrete optimal control problems.


Item Type:Book Section
Additional Information:© 1998 IEEE. Reprinted with permission. We would like to thank R. Brockett for useful discussions on this material. Research partially supported by National Science Foundation grants DMS-9496221 and DMS-9803181 and AFOSR grant F49620-96-1-0100. Work supported in part by NSF grant DMS 91011964 and NATO grant CRG 910926. Research partially supported by AFOSR contract F49620-95-1-0419. Work supported in part by NSF grant DMS-9503273 and DOE contract DE-FG03-95ER25245-A000.
Funders:
Funding AgencyGrant Number
National Science FoundationDMS-9496221
National Science FoundationDMS-9803181
Air Force Office of Scientific ResearchF49620-96-1-0100
National Science FoundationDMS 91011964
NATOCRG 910926
Air Force Office of Scientific ResearchF49620-95-1-0419
National Science FoundationDMS-9503273
Department of EnergyDE-FG03-95ER25245-A000
Subject Keywords:optimal control, discrete dynamics, rigid body mechanics
Record Number:CaltechAUTHORS:BLOieeecdc98b
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:BLOieeecdc98b
Alternative URL:http://dx.doi.org/10.1109/CDC.1998.758678
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:540
Collection:CaltechAUTHORS
Deposited By: Archive Administrator
Deposited On:14 Jul 2005
Last Modified:26 Dec 2012 08:40

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