An Underactuated Drift-Free Left Invariant Control System on a Specific Lie Group

The paper presents a geometrical overview on an optimal control problem on a special Lie group. The Hamilton-Poisson realization of the dynamics offers us the possibility to study the system from mechanical geometry point of view.

Bibliographic Details
Main Author: Camelia Pop Arieşanu
Format: Article
Language:English
Published: Hindawi Limited 2012-01-01
Series:Journal of Applied Mathematics
Online Access:http://dx.doi.org/10.1155/2012/341470
Description
Summary:The paper presents a geometrical overview on an optimal control problem on a special Lie group. The Hamilton-Poisson realization of the dynamics offers us the possibility to study the system from mechanical geometry point of view.
ISSN:1110-757X
1687-0042