Abstract In this paper, we combine two main topics in mechanics and optimal control theory: contact Hamiltonian systems Pontryagin maximum principle. As an important result, among others, develop a principle that permits to deal with problems dissipation. We also consider the Herglotz problem, which is simultaneously generalization of variational problem. An application study thermodynamic syst...

Planning robot trajectory is a complex task that plays a significant role in design and application of robots in task space. The problem is formulated as a trajectory optimization problem which is fundamentally a constrained nonlinear optimization problem. Open-loop optimal control method is proposed as an approach for trajectory optimization of cable parallel manipulator for a given two-end-po...

In the present paper, we develop a modified pseudospectral scheme for solving an optimal control problem which is governed by a switched dynamical system. Many real-world processes such as chemical processes, automotive systems and manufacturing processes can be modeled as such systems. For this purpose, we replace the problem with an alternative optimal control problem in which the switching t...