The Herglotz principle and vakonomic dynamics

DOI10.1007/978-3-030-80209-7_21MaRDI QIDQ2117848zbMATHOpenAlexFDO

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

optimal controlconstrained systemsvakonomic dynamicscontact Hamiltonian systems

Mathematics Subject Classification ID

Dynamical systems in control (37N35) Existence theories for optimal control problems involving ordinary differential equations (49J15) Almost contact and almost symplectic manifolds (53D15) Contact systems (37J55) Nonholonomic dynamical systems (37J60) Contact manifolds (general theory) (53D10) 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.

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Cites work

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Cited in

(9)

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

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