A geometric derivation of numerical integrators for optimal control problems
is proposed. It is based in the classical technique of generating functions
adapted to the special features of optimal control problems.Comment: 17 page

de Diego, D. Martin

de Leon, M.

Santamaria-Merino, A.

English

arXiv

A geometric derivation of numerical integrators for optimal control problems is
proposed. It is based in the classical technique of generating functions adapted to the special features of optimal control problems.This work has been supported by grant BFM2001-2272 (Ministry of Science and Technology, Spain). A. Santamaría Merino wishes to thank the Programa de Formación
de Investigadores of the Departamento de Educación, Universidades e Investigación of
the Basque Government (Spain) for financial support.Peer reviewe

Discrete variational integrators and optimal control theory

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