  This paper studies (single-time and multitime) optimal control problems on a
nonholonomic manifold (described either by the kernel of a Gibbs-Pfaff form or
by the span of appropriate vector fields). For both descriptions we analyse:
infinitesimal deformations and adjointness, single-time optimal control
problems, multitime optimal control problem of maximizing a multiple integral
functional, multitime optimal control problem of maximizing a curvilinear
integral functional, Curvilinear functionals depending on curves, optimization
of mechanical work on Riemannian manifolds. Also we prove that a nonholonomic
system can be always controlled by uni-temporal or bi-temporal bang-bang
controls.
