Geometric optimal control utilizes tools from differential geometry to analyze the structure of a problem determine and state trajectories reach desired outcome while minimizing some cost function. For controlled mechanical system, usually manifests as an external force which, if conservative, can be added Hamiltonian. In this letter, we focus on systems with controls symplectic form rather tha...

In this article we develop a theory of contact systems with nonholonomic constraints. We obtain the dynamics from Herglotz's variational principle, by restricting variations so that they satisfy prove can be obtained as projection unconstrained Hamiltonian vector field. Finally, construct bracket, which is an almost Jacobi bracket on space observables and provides d...

This paper presents a new fuzzy Lyapunov controller for nonholonomic mobile vehicles. A symbiosis between classical backstepping techniques and fuzzy logic was realized. The control system ensures a good robustness with respect to outside perturbations. These perturbations can interact with the vehicle. They are sources of uncertainty for the system model and can perturb the validity of the non...