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Optimal control of underactuated mechanical systems with symmetries

Pages: 149 - 158, Issue special, November 2013

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Leonardo Colombo - Instituto de Ciencias Matemáticas (CSIC-UAM-UC3M-UCM), Calle Nicolás Cabrera 15, 28049, Madrid, Spain (email)
David Martín de Diego - Instituto de Ciencias Matemáticas, CSIC-UAM-UC3M-UCM, Campus de Cantoblanco, UAM, C/Nicolás Cabrera, 15, 28049 Madrid, Spain (email)

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4 L. Colombo and D. Martín de Diego, On the geometry of higher-order variational problems on Lie groups, arXiv:1104.3221v1 (2011).
5 A. Lewis, R. Murray, Variational principles for constrained systems: Theory and experiment. Int. J. nonlinear mech. 30 (1995), no. 6, 793-815.       

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