Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Optimal Control of Underactuated Mechanical Systems: A Geometric
  Approach   In this paper, we consider a geometric formalism for optimal control of
underactuated mechanical systems. Our techniques are an adaptation of the
classical Skinner and Rusk approach for the case of Lagrangian dynamics with
higher-order constraints. We study a regular case where it is possible to
establish a symplectic framework and, as a consequence, to obtain a unique
vector field determining the dynamics of the optimal control problem. These
developments will allow us to develop a new class of geometric integrators
based on discrete variational calculus.

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The categories of this paper are: hep-ph
27
The categories of this paper are: comp-gas
25
The categories of this paper are: patt-sol
29
The categories of this paper are: funct-an
3
The categories of this paper are: physics
9
The categories of this paper are: nlin
17
The categories of this paper are: q-fin
10
The categories of this paper are: q-bio
11
The categories of this paper are: hep-lat
21
The categories of this paper are: adap-org
15
The categories of this paper are: nucl-ex
5
The categories of this paper are: gr-qc
36
The categories of this paper are: cmp-lg
7
The categories of this paper are: hep-th
30
The categories of this paper are: q-alg
6
The categories of this paper are: astro-ph