Lie algebroids in classical mechanics and optimal control (Q2473447): Difference between revisions

A Lie algebroid is a vector bundle map \(E\to M\) together with a vector bundle map \(\rho\colon E\to TM\) over the identity (the so-called anchor map) and a Lie algebra structure on the vector space of sections of \(E\) such that \([\sigma , f\eta]=f[\sigma,\eta]+(\rho(\sigma)f)\eta\), for any \(f\in C^{\infty}(M)\) and sections \(\sigma,\rho\) of \(E\). In this paper, the author presents some recent results on the theory of Lagrangian systems on Lie algebroids. It is shown that Lagrange's equations for a Lagrangian system on a Lie algebroid are precisely the equations for the critical points of the action functional defined on the set of admissible curves on a Lie algebroid with fixed base endpoints. By using a Lagrange multiplier method, the author shows how to find such equations. Next, the author studies the transformation rules induced by morphism of Lie algebroids on geometric objects, and shows how to use them in the theory of reduction of Lagrangian systems. Finally, it is shown how Pontryagin's maximum principle can be extended for control systems defined on Lie algebroids and how to reduce optimal control problems.