Abstract
AbstractThere are different approaches how to treat constrained mechanical systems within the framework of optimal control. One of them is to treat the constraints as constant states in time. An other approach is to ensure the equivalence of either solving an ordinary differential equation system or a differential algebraic equation system as constraints of the optimal control problem. The embedding of both approaches will be shown and numerical examples will show the influence of the embedding on the underlying necessary optimality conditions of the optimal control problem.
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