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- 1Calculus of variations
- 1Euler-Poincaré's method
- 1Lagrange-d'Alembert's principle
- 1Nonholonomic mechanics
- 1Optimal control
- 1Pontryagin's minimum principle
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Fall 2017
This thesis investigates the optimal control of two nonholonomic mechanical systems, Suslov's problem and the rolling ball. Suslov's problem is a nonholonomic variation of the classical rotating free rigid body problem, in which the body angular velocity must always be orthogonal to a prescribed,...
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