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- W4300154465 abstract "We deal with regular Lagrangian constrained systems which are invariant under the action of a symmetry group. Fixing a connection on the higher-order principal bundle where the Lagrangian and the (independent) constraints are defined, the higher-order Lagrange-Poincar'e equations of classical mechanical systems with higher-order constraints are obtained from classical Lagrangian reduction. Higher-order Lagrange-Poincar'e operator is introduced to characterize higher-order Lagrange-Poincar'e equations. Interesting applications are derived as, for instance, the optimal control of an underactuated Elroy's Beanie and a snakeboard seens as an optimization problem with higher-order constraints." @default.
- W4300154465 created "2022-10-03" @default.
- W4300154465 creator A5011498718 @default.
- W4300154465 date "2013-06-25" @default.
- W4300154465 modified "2023-10-16" @default.
- W4300154465 title "Lagrange-Poincar'e reduction for optimal control of underactuated mechanical systems" @default.
- W4300154465 doi "https://doi.org/10.48550/arxiv.1306.6005" @default.
- W4300154465 hasPublicationYear "2013" @default.
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