The Boltzmann-Hamel equations for the optimal control of mechanical systems with nonholonomic constraints - Maruskin, Jared M.; Bloch, Anthony M. (International journal of robust and nonlinear control, 2011)
Keywords: Bolts; Boltzmann-Hamel equations; Differential equations; Kinematics; Mathematical analysis; Mechanical systems; nonholonomic constraints; Optimal control; Optimization; quasi-velocities; Rigid-body dynamics; variational principles