标题： 非完整系统的几何数值积分与最优控制问题 显示英文标题

标题： Geometric numerical integration of nonholonomic systems and optimal control problems

摘要： 得到了非完整系统和最优控制问题的数值积分器的几何推导方法。 该方法基于经典生成函数技术，并针对非完整系统和最优控制问题的特殊性质进行了调整。 显示英文摘要

摘要： A geometric derivation of numerical integrators for nonholonomic systems and optimal control problems is obtained. It is based in the classical technique of generating functions adapted to the special features of nonholonomic systems and optimal control problems.