Optimal control of underactuated mechanical systems: A geometric approach

Article: 
Optimal control of underactuated mechanical systems: A geometric approach
Authors: 
L. Colombo, D. Martin de Diego, M. Zuccalli
Journal: 
Journal of Mathematical Physic
Volume: 
51(8)
Pages: 
83519
Year: 
2010
URL: 
http://arxiv.org/abs/0912.2033