Geometric numerical integration of nonholonomic systems and optimal control problems

TL;DR

This paper introduces a geometric approach to derive numerical integrators specifically designed for nonholonomic systems and optimal control problems, leveraging generating functions tailored to their unique features.

Contribution

It presents a novel geometric derivation method for integrators that effectively handle the complexities of nonholonomic systems and optimal control.

Findings

Provides a new geometric derivation technique for integrators.

Enhances numerical methods for nonholonomic systems.

Improves accuracy and structure preservation in optimal control simulations.

Abstract

A geometric derivation of numerical integrators for nonholonomic systems and optimal control problems is obtained. It is based in the classical technique of generating functions adapted to the special features of nonholonomic systems and optimal control problems.