Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Structure-preserving discrete-time optimal maneuvers of a wheeled
  inverted pendulum   The Wheeled Inverted Pendulum (WIP) is a nonholonomic, underactuated
mechanical system, and has been popularized commercially as the {\it Segway}.
Designing optimal control laws for point-to-point state-transfer for this
autonomous mechanical system, while respecting momentum and torque constraints
as well as the underlying manifold, continues to pose challenging problems. In
this article we present a successful effort in this direction: We employ
geometric mechanics to obtain a discrete-time model of the system, followed by
the synthesis of an energy-optimal control based on a discrete-time maximum
principle applicable to mechanical systems whose configuration manifold is a
Lie group. Moreover, we incorporate state and momentum constraints into the
discrete-time control directly at the synthesis stage. The control is
implemented on a WIP with parameters obtained from an existing prototype; the
results are highly encouraging, as demonstrated by numerical experiments.

28
The categories of this paper are: alg-geom
5
The categories of this paper are: gr-qc
30
The categories of this paper are: q-alg
18
The categories of this paper are: econ
36
The categories of this paper are: cmp-lg
31
The categories of this paper are: ao-sci
3
The categories of this paper are: physics
17
The categories of this paper are: q-fin
4
The categories of this paper are: cond-mat
26
The categories of this paper are: bayes-an
9
The categories of this paper are: nlin
15
The categories of this paper are: nucl-ex
23
The categories of this paper are: solv-int
33
The categories of this paper are: plasm-ph
21
The categories of this paper are: adap-org
35
The categories of this paper are: mtrl-th