Inhalt

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   Introduction
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  Optimal control
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  Optimal control problem
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   Problem formulation
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   Necessary conditions for optimality
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   Solution methods for optimal control problems
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   Indirect methods
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   Direct methods
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  Solution methods for nonlinear constrained optimization problems
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   Local optimality conditions
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   Sequential Quadratic Programming (SQP)
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   Discussion of direct methods
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   Variational mechanics
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  Lagrangian mechanics
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   Basic definitions and concepts
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   Discrete Lagrangian mechanics
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  Hamiltonian mechanics
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   Basic definitions and concepts
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   Discrete Hamiltonian mechanics
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  Forcing and control
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   Forced Lagrangian systems
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   Forced Hamiltonian systems
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   Legendre transform with forces
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   Noether's theorem with forcing
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   Discrete variational mechanics with control forces
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   Discrete Legendre transforms with forces
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   Discrete Noether's theorem with forcing
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  Discrete mechanics and optimal control (DMOC)
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   Optimal control of a mechanical system
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   Lagrangian optimal control problem
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   Hamiltonian optimal control problem
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   Transformation to Mayer form
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   Optimal control of a discrete mechanical system
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   Discrete Optimal Control Problem
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   Transformation to Mayer form
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   Fixed boundary conditions
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  Correspondence between discrete and continuous optimal control problem
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   Exact discrete Lagrangian and forcing
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   Order of consistency
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   Discrete problem as direct solution method
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  High-order discretization
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   Quadrature approximation
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   High-order discrete optimal control problem
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   Correspondence to Runge-Kutta discretizations
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  Adjoint system
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   Continuous setting
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   Discrete setting
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   The transformed adjoint system
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   Convergence
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  Implementation, applications and extension
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   Implementation
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  Comparison to existing methods
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   Low thrust orbital transfer
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   Two-link manipulator
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  Application: Trajectory planning
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   A group of hovercraft
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   Perfect underwater glider
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  Application: Optimal control of multi-body systems
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   The falling cat
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   A gymnast (three-link mechanism)
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   Reconfiguration of formation flying spacecraft -- a decentralized approach
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   Optimal control of constrained mechanical systems in multi-body dynamics
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  Constrained dynamics and optimal control
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   Optimization problem
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   Constrained Lagrange-d'Alembert principle
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   Null space method
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   Reparametrization
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  Constrained discrete dynamics and optimal control
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   Discrete constrained Lagrange-d'Alembert principle
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   Discrete null space method
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   Nodal reparametrization
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   Boundary conditions
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   Discrete constrained optimization problem
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  Optimal control for rigid body dynamics
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   Constrained formulation of rigid body dynamics
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   Actuation of the rigid body
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   Kinematic pairs
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  Applications
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   Optimal control of a rigid body with rotors
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   Biomechanics: The optimal pitch
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   Conclusions and outlook
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   Definitions
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   Adjoint system
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   Convergence proof