39 citations · 47 across the 8 of their papers we have counts for
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math.OC2005
Optimal Control of Underactuated Nonholonomic Mechanical Systems
Islam I. Hussein, Anthony M. Bloch
In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at m…
math.OC2005★ 39 cited
A Discrete Variational Integrator for Optimal Control Problems on SO(3)
Islam I. Hussein, Melvin Leok, Amit K. Sanyal +1
In this paper we study a discrete variational optimal control problem for the rigid body. The cost to be minimized is the external torque applied to move the rigid body from an ini…