Intrinsic Optimal Control for Mechanical Systems on Lie Group

Table 1

Optimal control gains with different weight.

0.01	0.9954	0.0095	0.1
0.05	0.9794	0.0454	0.2236
0.1	0.9614	0.0878	0.3162
0.5	0.8467	0.3916	0.7071