2 citations · 2 across the 3 of their papers we have counts for
5 papers
Second order optimality conditions in a new Lagrangian formulation for optimal control problems
Michael Konopik, Sigrid Leyendecker, Sofya Maslovskaya +2
It has been shown recently that optimal control problems with the dynamical constraint given by a second order system admit a regular Lagrangian formulation. This implies that the…
High-order integrators for Lagrangian systems on homogeneous spaces via nonholonomic mechanics
Rodrigo T. Sato Martín de Almagro
In this paper, high-order numerical integrators on homogeneous spaces will be presented as an application of nonholonomic partitioned Runge-Kutta Munthe-Kaas (RKMK) methods on Lie…
Parallel iterative methods for variational integration applied to navigation problems
Sebastián J. Ferraro, David Martín de Diego, Rodrigo T. Sato Martín de Almagro
Discrete variational methods have shown an excellent performance in numerical simulations of different mechanical systems. In this paper, we introduce an iterative method for discr…
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…
Variational order for forced Lagrangian systems II: Euler-Poincaré equations with forcing
David Martín de Diego, Rodrigo T. Sato Martín de Almagro
In this paper we provide a variational derivation of the Euler-Poincaré equations for systems subjected to external forces using an adaptation of the techniques introduced by Galle…