Optimal control problems with symmetry breaking cost functions
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Existence theories for optimal control problems involving ordinary differential equations (49J15) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Lagrange's equations (70H03) Hamilton's equations (70H05)
Abstract: We investigate symmetry reduction of optimal control problems for left-invariant control systems on Lie groups, with partial symmetry breaking cost functions. Our approach emphasizes the role of variational principles and considers a discrete-time setting as well as the standard continuous-time formulation. Specifically, we recast the optimal control problem as a constrained variational problem with a partial symmetry breaking Lagrangian and obtain the Euler--Poincar'e equations from a variational principle. By applying a Legendre transformation to it, we recover the Lie-Poisson equations obtained by A. D. Borum [Master's Thesis, University of Illinois at Urbana-Champaign, 2015] in the same context. We also discretize the variational principle in time and obtain the discrete-time Lie-Poisson equations. We illustrate the theory with some practical examples including a motion planning problem in the presence of an obstacle.
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Cited in
(6)- Lie-Poisson reduction for optimal control of left-invariant control systems with subgroup symmetry
- Dynamic interpolation for obstacle avoidance on Riemannian manifolds
- Reduction in optimal control with broken symmetry for collision and obstacle avoidance of multi-agent system on Lie groups
- Symmetry reduction and recovery of trajectories of optimal control problems via measure relaxations
- Reduction by symmetries of contact mechanical systems on Lie groups
- Nonholonomic mechanics and virtual constraints on Riemannian homogeneous spaces
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