CaltechAUTHORS
Published December 1998 | Version public
Book Section - Chapter Open

Discrete rigid body dynamics and optimal control

Creators

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.

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.

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Identifiers

Eprint ID
540
Resolver ID
CaltechAUTHORS:BLOieeecdc98b

Funding

NSF
DMS-9496221
NSF
DMS-9803181
Air Force Office of Scientific Research (AFOSR)
F49620-96-1-0100
NSF
DMS 91011964
NATO
CRG 910926
Air Force Office of Scientific Research (AFOSR)
F49620-95-1-0419
NSF
DMS-9503273
Department of Energy (DOE)
DE-FG03-95ER25245-A000

Dates

Created
2005-07-14
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Updated
2021-11-08
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