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math.OC2022★ 7 cited
Nonsmooth Herglotz variational principle
Asier López-Gordón, Leonardo Colombo, Manuel de León
In this paper, the theory of smooth action-dependent Lagrangian mechanics (also known as contact Lagrangians) is extended to a non-smooth context appropriate for collision problems…
math.OC2003
Discrete variational integrators and optimal control theory
M. de Leon, D. Martin de Diego, A. Santamaria-Merino
A geometric derivation of numerical integrators for optimal control problems is proposed. It is based in the classical technique of generating functions adapted to the special feat…