Symmetries in vakonomic dynamics. Applications to optimal control

Sonia Martínez, Jorge Cortés and Manuel de León
Journal of Geometry and Physics, 38 (3-4) (2001), 343-365

Abstract:

Symmetries in vakonomic dynamics are discussed. Appropriate notions are introduced and their relationship with previous work on symmetries of singular Lagrangian systems is shown. Some Noether-type theorems are obtained. The results are applied to a class of general optimal control problems and to kinematic locomotion systems.

File: main.pdf

Bib-tex entry:

@article{SM-JC-MdL:01,
author = {S. Mart{\'\i}nez and J. Cort\'es and M. de Le\'on},
title = {Symmetries in vakonomic dynamics. Applications to optimal control},
journal= {Journal of Geometry and Physics},
volume = 38,
number = {3--4},
year = 2001,
pages = {343--365}
}