Jack B. Aldrich, Robert E. Skelton. Time-energy optimal control of hyper-actuated mechanical systems with geometric path constraints. In 44th IEEE IEEE Conference on Decision and Control and 8th European Control Conference Control, CDC/ECC 2005, Seville, Spain, 12-15 December, 2005. pages 8246-8253, IEEE, 2005. [doi]
Abstract is missing.