Optimal control and geodesic flows

DOI10.1016/0167-6911(96)00008-4MaRDI QIDQ671343zbMATH OpenOpenAlexWikidataFDO

Authors Anthony M. Bloch, Peter E. Crouch

Publication date 27 February 1997

Published in Systems \& Control Letters (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0167-6911(96)00008-4

zbMATH Keywords

bilinear systemsdouble bracket equationsgeodesic equationsGrassmannianhamiltonian dynamicsoptimal controlrigid body dynamics

Mathematics Subject Classification ID

Dynamical systems of geometric origin and hyperbolicity (geodesic and horocycle flows, etc.) (37D40) Miscellaneous topics in calculus of variations and optimal control (49N99) Geodesic flows in symplectic geometry and contact geometry (53D25)

Review text

This publication gives two examples of optimal control problems such that the associated hamiltonian dynamics takes the form of two coupled double bracket equations which take the following form (or a modified version) \[ \dot x=[x, [p,x]], \qquad \dot p=[p, [p,x]]. \] \(x\) corresponds to the state on a Lie algebra and \(p\) is the adjoint variable. The first example consists essentially in minimizing a quadratic cost in the control \(u\) subject to \(\dot x=[x,u]\). \(x\) and \(u\) belong to a suitable Lie algebra such that the negative of the Killing form is positive definite. The corresponding bi-invariant norm is used in the cost functional. The second example consists in minimizing a quadratic cost in the controls \(U\), \(V\) subject to \(\dot Q=UQ-QV\) where \(Q\) is a \(p\times q\) complex matrix and \(U\in u(p)\) (resp. \(V\in u(q))\); \(u(n)\) is the Lie algebra of the unitary group. The norm involved in the cost is the standard trace inner product for matrices. Matrices in the Grassmannian \(G_{q,q+p}(\mathbb{C})\) can be constructed from \(Q\) and the adjoint variable \(P\). These two matrices satisfy similar coupled double bracket equations. The coupled double bracket equations given above are seen to be geodesic equation on the adjoint orbit or on the Grassmannian respectively with respect to a suitable metric. The choice of the metric is conditioned by the fact that tangent vectors have a bracket form in both cases. The details of the proof are missing. Particular cases are examined: the geodesic equations on the sphere \(S^n\), the free rigid body dynamics. The equations are justified by computations which are not always written down. The adjoint equation for \(P\) is not correct due to an error in the derivation (cf. formula 28).

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Cited in

(18)

• Accessibility of a class of generalized double-bracket flows
• Double bracket equations and geodesic flows on symmetric spaces
• The Moser-Veselov equation
• Bifurcations of the conjugate locus
• Enlargement, geodesics, and collectives
• A contact covariant approach to optimal control with applications to sub-Riemannian geometry
• A variational problem on Stiefel manifolds
• Clebsch variational principles in field theories and singular solutions of covariant EPDiff equations
• Euler's fluid equations: Optimal control vs optimization
• Geometric optimal control. Theory, methods and examples
• scientific article; zbMATH DE number 701748 (Why is no real title available?)
• Solving quantum optimal control problems using Clebsch variables and Lin constraints
• A technique for improving the computation of functions of triangular matrices
• The symmetric representation of the generalized rigid body equations and symplectic reduction
• Zermelo navigation problems on surfaces of revolution and geometric optimal control
• The conjugate locus in convex 3-manifolds
• Invariant higher-order variational problems
• Invariant higher-order variational problems. II

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