Abnormal Minimizers in Nonholonomic Mechanical Control Systems

被引：0
|
作者：
Xia Qianqian [1 ]
Geng Zhiyong [1 ]
机构：
[1] Peking Univ, Coll Engn, Dept Mech & Aerosp Engn, Beijing 100871, Peoples R China
来源：
2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年
关键词：
abnormal extremals; nonholonomic mechanical control systems; Pontryagain's Maximum Principle;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, it is concerned with the problem of finding abnormal minimizers in nonholonomic mechanical control systems. Relations between nonholonomic mechanical and kinematic optimal control problems are established. For rank-two distributions, the abnormal minimizers in kinematic control systems are used to get abnormal minimizers for the length-minimizing problem in the corresponding nonholonomic mechanical control systems. Finally our ideas are illustrated by considering examples of nonholonomic mechanical systems.
引用
收藏
页码：2377 / 2381
页数：5
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