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.
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| Format: | Article |
| Language: | English |
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Hindawi Limited
2012-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2012/341470 |