Published December 1998
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Discrete rigid body dynamics and optimal control
Chicago
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Abstract
We analyze an alternative formulation of the rigid body equations, their relationship with the discrete rigid body equations of Moser-Veselov (1991) and their formulation as an optimal control problem. In addition we discuss a general class of discrete optimal control problems.
Additional Information
© 1998 IEEE. Reprinted with permission. We would like to thank R. Brockett for useful discussions on this material. Research partially supported by National Science Foundation grants DMS-9496221 and DMS-9803181 and AFOSR grant F49620-96-1-0100. Work supported in part by NSF grant DMS 91011964 and NATO grant CRG 910926. Research partially supported by AFOSR contract F49620-95-1-0419. Work supported in part by NSF grant DMS-9503273 and DOE contract DE-FG03-95ER25245-A000.Files
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Additional details
- Eprint ID
- 540
- Resolver ID
- CaltechAUTHORS:BLOieeecdc98b
- NSF
- DMS-9496221
- NSF
- DMS-9803181
- Air Force Office of Scientific Research (AFOSR)
- F49620-96-1-0100
- NSF
- DMS 91011964
- NATO
- CRG 910926
- Air Force Office of Scientific Research (AFOSR)
- F49620-95-1-0419
- NSF
- DMS-9503273
- Department of Energy (DOE)
- DE-FG03-95ER25245-A000
- Created
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2005-07-14Created from EPrint's datestamp field
- Updated
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2021-11-08Created from EPrint's last_modified field