Geodesic
Optimal motion control of nonholonomic mechanical systems
Theoretical and applied mechanics, Tome 12 (1986) no. 1, p. 111 
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/
@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 },
     year = {1986},
     volume = {12},
     number = {1},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/TAM_1986_12_1_a12/}
}
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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.