Neighboring extremal optimal control for mechanical systems on Riemannian manifolds
Anthony M. Bloch Rohit Gupta Ilya V. Kolmanovsky
In this paper, we extend neighboring extremal optimal control, which is well established for optimal control problems defined on a Euclidean space (see, e.g., [8]) to the setting of Riemannian manifolds. We further specialize the results to the case of Lie groups. An example along with simulation results is presented.
keywords: optimal control Lie groups neighboring extremal optimal control mechanical systems Riemannian manifolds.

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