Geodesic
Optimal control of a rigid body system in a complex case
Theoretical and applied mechanics, Tome 17 (1991) no. 1, p. 121 .

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

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. 
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     title = {Optimal control of a rigid body system in a complex case},
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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/