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• W2914936404 abstract "We study the tracking of a trajectory for a nonholonomic system by recasting the problem as an optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a nonholonomic system and the desired reference trajectory evolving on the distribution which defines the nonholonomic constraints. We prepose a geometric framework since it describes the class of nonlinear systems under study in a coordinate-free framework. Necessary conditions for the existence of extrema are determined by the Pontryagin Minimum Principle. A nonholonomic fully actuated particle is used as a benchmark example to show how the proposed method is applied." @default.
• W2914936404 created "2019-02-21" @default.
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• W2914936404 date "2019-01-29" @default.
• W2914936404 modified "2023-10-07" @default.
• W2914936404 title "Optimal Trajectory Tracking of Nonholonomic Mechanical Systems: a geometric approach" @default.
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