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math.OC2025
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…
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…