Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Optimal Trajectory Tracking of Nonholonomic Mechanical Systems: a
  geometric approach   We study the tracking of a trajectory for a nonholonomic system by recasting
the problem as an optimal control problem. The cost function is chosen to
minimize the error in positions and velocities between the trajectory of a
nonholonomic system and the desired reference trajectory evolving on the
distribution which defines the nonholonomic constraints. We prepose a geometric
framework since it describes the class of nonlinear systems under study in a
coordinate-free framework. Necessary conditions for the existence of extrema
are determined by the Pontryagin Minimum Principle. A nonholonomic fully
actuated particle is used as a benchmark example to show how the proposed
method is applied.

13
The categories of this paper are: quant-ph
7
The categories of this paper are: hep-th
28
The categories of this paper are: alg-geom
20
The categories of this paper are: acc-phys
17
The categories of this paper are: q-fin
34
The categories of this paper are: chem-ph
33
The categories of this paper are: plasm-ph
16
The categories of this paper are: stat
19
The categories of this paper are: eess
31
The categories of this paper are: ao-sci
8
The categories of this paper are: hep-ex
36
The categories of this paper are: cmp-lg
12
The categories of this paper are: nucl-th
6
The categories of this paper are: astro-ph
0
The categories of this paper are: hep-ph
37
The categories of this paper are: supr-con