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20152026
most citedAlmost-globally stable tracking for on compact Riemannian manifolds

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math.OC2020

Geometric Optimal Trajectory Tracking of Nonholonomic Mechanical Systems

Leonardo J. Colombo, David Martín de Diego, Aradhana Nayak +1

We study the tracking of a trajectory for a nonholonomic system by recasting the problem as a constrained optimal control problem. The cost function is chosen to minimize the error…