The Herglotz principle and vakonomic dynamics

DOI10.1007/978-3-030-80209-7_21MaRDI QIDQ2117848zbMATH OpenOpenAlexFDO

Authors Manuel de León, Manuel Lainz, Miguel C. Muñoz-Lecanda

Publication date 22 March 2022

Full work available at URL https://arxiv.org/abs/2106.02404

zbMATH Keywords

constrained systemscontact Hamiltonian systemsoptimal controlvakonomic dynamics

Mathematics Subject Classification ID

Contact systems (37J55) Nonholonomic dynamical systems (37J60) Dynamical systems in control (37N35) Existence theories for optimal control problems involving ordinary differential equations (49J15) Contact manifolds (general theory) (53D10) Almost contact and almost symplectic manifolds (53D15) Other variational principles in mechanics (70H30) Constrained dynamics, Dirac's theory of constraints (70H45)

Abstract: In this paper we study vakonomic dynamics on contact systems with nonlinear constraints. In order to obtain the dynamics, we consider a space of admisible paths, which are the ones tangent to a given submanifold. Then, we find the critical points of the Herglotz action on this space of paths. This dynamics can be also obtained through an extended Lagrangian, including Lagrange multiplier terms. This theory has important applications in optimal control theory for Herglotz control problems, in which the cost function is given implicitly, through an ODE, instead of by a definite integral. Indeed, these control problems can be considered as particular cases of vakonomic contact systems, and we can use the Lagrangian theory of contact systems in order to understand their symmetries and dynamics.

Review text

In the Herglotz variational principle, one considers a Lagrangian that depends not only on the positions and velocities of the system, but also on the infinitesimal action itself. It has been recently acknowledged that the Herglotz principle provides the dynamics for the Lagrangian counterpart of contact Hamiltonian systems. In this paper the authors study vakonomic dynamics for contact systems with nonlinear constraints. In order to obtain the dynamics, they consider a space of admissible paths, which are the ones tangent to a given submanifold. Then, they find the critical points of the Herglotz action on this space of paths. This dynamics can be also obtained through an extended Lagrangian, including Lagrange multiplier terms. In the final section, they sketch the relationship between the vakonomic dynamics of contact Lagrangian systems and the Herglotz optimal control problem. For the entire collection see [Zbl 1482.94007].

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Cites work

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Cited in

(11)

• Optimal control, contact dynamics and Herglotz variational problem
• Herglotz' generalized variational principle and contact type Hamilton-Jacobi equations
• Constrained Lagrangian dissipative contact dynamics
• Nonautonomous k-contact field theories
• On the Herglotz variational problem
• Lagrangian-Hamiltonian formalism for cocontact systems
• A variational derivation of the field equations of an action-dependent Einstein-Hilbert Lagrangian
• Herglotz-type vakonomic dynamics and its Noether symmetry for nonholonomic constrained systems
• Some contributions to \(k\)-contact Lagrangian field equations, symmetries and dissipation laws
• The Herglotz variational principle for dissipative field theories
• Hamilton-Jacobi theory for non-conservative field theories in the k-contact framework

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