Geodesic
Optimal control of a rigid body system in a complex case
Theoretical and applied mechanics, Tome 17 (1991) no. 1, p. 121 Cet article a éte moissonné depuis la source eLibrary of Mathematical Institute of the Serbian Academy of Sciences and Arts

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This article is devoted to the problem of optimal speed for systems of rigid bodies. Controls are non-conservative generalizations of force, with limited components. The possibility of special control is proved here only for a part of the components of the control vector. The conjugation of singular and non-singular sections of the optimal trajectory is considered. A numerical solution is constructed for one type of manipulator, where the optimal control has a special section. 
@article{TAM_1991_17_1_a12,
     author = {Aleksandar Obradovi\'c},
     title = {Optimal control of a rigid body system in a complex case},
     journal = {Theoretical and applied mechanics},
     pages = {121 },
     year = {1991},
     volume = {17},
     number = {1},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/TAM_1991_17_1_a12/}
}
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Aleksandar Obradović. Optimal control of a rigid body system in a complex case. Theoretical and applied mechanics, Tome 17 (1991) no. 1, p. 121 . http://geodesic.mathdoc.fr/item/TAM_1991_17_1_a12/