Discrete Rigid Body Dynamics and Optimal Control
Bloch, A. M., P. Crouch, J. E. Marsden and T. S. Ratiu
Proc. CDC, 37
Abstract:
In this paper we analyze an alternative formulation
of the rigid body equations, their relationship with
the discrete rigid body equations of Moser-Veselov
and their formulation as an optimal control problem.
In addition we discuss a general class of
discrete optimal control problems.
