{
  "id": "1003.1013",
  "version": "v1",
  "published": "2010-03-04T10:53:40.000Z",
  "updated": "2010-03-04T10:53:40.000Z",
  "title": "Quasivelocities and Optimal Control for Underactuated Mechanical Systems",
  "authors": [
    "L. Colombo",
    "D. Martin de Diego"
  ],
  "comment": "8 pages",
  "categories": [
    "math-ph",
    "math.MP"
  ],
  "abstract": "This paper is concerned with the application of the theory of quasivelocities for optimal control for underactuated mechanical systems. Using this theory, we convert the original problem in a variational second-order lagrangian system subjected to constraints. The equations of motion are geometrically derived using an adaptation of the classical Skinner and Rusk formalism.",
  "revisions": [
    {
      "version": "v1",
      "updated": "2010-03-04T10:53:40.000Z"
    }
  ],
  "analyses": {
    "subjects": [
      "34H05",
      "11.10.Ef",
      "45.20.D-",
      "03.50.-z",
      "45.40.Cc"
    ],
    "keywords": [
      "underactuated mechanical systems",
      "optimal control",
      "quasivelocities",
      "variational second-order lagrangian system",
      "rusk formalism"
    ],
    "note": {
      "typesetting": "TeX",
      "pages": 8,
      "language": "en",
      "license": "arXiv",
      "status": "editable",
      "adsabs": "2010AIPC.1260..133C"
    }
  }
}