2013•Chinese Control ConferenceRequires access
Abnormal minimizers in nonholonomic mechanical control systems
Qianqian Xia, Zhiyong Geng
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Abstract
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.