Jorge Cortes, Manuel de Leon, David Martin de Diego, Sonia Martinez
Published 2000-06-24Version 1
We treat the vakonomic dynamics with general constraints within a new geometric framework which will be appropriate to study optimal control problems. We compare our formulation with Vershik-Gershkovich one in the case of linear constraints. We show how nonholonomic mechanics also admits a new geometrical description wich enables us to develop an algorithm of comparison between the solutions of both dynamics. Some examples illustrating the theory are treated.
Comments: 34 pages
Journal: SIAM J Control Optim 41 (5) (2003), 1389-1412
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