Geodesic
Optimal motion control of nonholonomic mechanical systems
Theoretical and applied mechanics, Tome 12 (1986) no. 1, p. 111 .

Voir la notice de l'article provenant de la source eLibrary of Mathematical Institute of the Serbian Academy of Sciences and Arts

In this paper, we prove the connection between the maximum principle of optimal control theory and Hamilton's integral variational principle of classical mechanics. By conjugating the differential equations of motion and the displacement equation using the function $X$, it is shown that the maximum of the Hamilton action for nonholonomic mechanical systems is reduced to the maximum of the function. 
@article{TAM_1986_12_1_a12,
     author = {Vera Po\v{z}ega},
     title = {Optimal motion control of nonholonomic mechanical systems},
     journal = {Theoretical and applied mechanics},
     pages = {111 },
     publisher = {mathdoc},
     volume = {12},
     number = {1},
     year = {1986},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/TAM_1986_12_1_a12/}
}
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Vera Požega. Optimal motion control of nonholonomic mechanical systems. Theoretical and applied mechanics, Tome 12 (1986) no. 1, p. 111 . http://geodesic.mathdoc.fr/item/TAM_1986_12_1_a12/