The Boltzmann-Hamel equations for the optimal control of mechanical systems with nonholonomic constraints

• Published in: International journal of robust and nonlinear control Vol. 21; no. 4; pp. 373 - 386
• Main Authors: Maruskin, Jared M., Bloch, Anthony M.
• Format: Journal Article
• Language: English
• Published: Chichester, UK John Wiley & Sons, Ltd 10.03.2011
• Subjects: Bolts; Boltzmann-Hamel equations; Differential equations; Kinematics; Mathematical analysis; Mechanical systems; nonholonomic constraints; Optimal control; Optimization; quasi-velocities; Rigid-body dynamics; variational principles

In this paper, we generalize the Boltzmann–Hamel equations for nonholonomic mechanics to a form suited for the kinematic or dynamic optimal control of mechanical systems subject to nonholonomic constraints. In solving these equations one is able to eliminate the controls and compute the optimal traj...