Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Geometric structure-preserving optimal control of the rigid body   In this paper we study a discrete variational optimal control problem for the
rigid body. The cost to be minimized is the external torque applied to move the
rigid body from an initial condition to a pre-specified terminal condition.
Instead of discretizing the equations of motion, we use the discrete equations
obtained from the discrete Lagrange--d'Alembert principle, a process that
better approximates the equations of motion. Within the discrete-time setting,
these two approaches are not equivalent in general. The kinematics are
discretized using a natural Lie-algebraic formulation that guarantees that the
flow remains on the Lie group SO(3) and its algebra so(3). We use Lagrange's
method for constrained problems in the calculus of variations to derive the
discrete-time necessary conditions. We give a numerical example for a
three-dimensional rigid body maneuver.

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The categories of this paper are: math-ph
9
The categories of this paper are: nlin
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The categories of this paper are: eess
6
The categories of this paper are: astro-ph
22
The categories of this paper are: chao-dyn
20
The categories of this paper are: acc-phys
25
The categories of this paper are: patt-sol
10
The categories of this paper are: q-bio
8
The categories of this paper are: hep-ex
0
The categories of this paper are: hep-ph
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The categories of this paper are: hep-lat
4
The categories of this paper are: cond-mat
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The categories of this paper are: chem-ph
3
The categories of this paper are: physics
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The categories of this paper are: comp-gas
33
The categories of this paper are: plasm-ph