Second-order constrained variational problems on Lie algebroids: applications to optimal control
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Optimality conditions for problems involving relations other than differential equations (49K21) Poisson manifolds; Poisson groupoids and algebroids (53D17) Higher-order theories for problems in Hamiltonian and Lagrangian mechanics (70H50) Hamilton's principle (70H25) Other variational principles in mechanics (70H30)
Abstract: The aim of this work is to study, from an intrinsic and geometric point of view, second-order constrained variational problems on Lie algebroids, that is, optimization problems defined by a cost functional which depends on higher-order derivatives of admissible curves on a Lie algebroid. Extending the classical Skinner and Rusk formalism for the mechanics in the context of Lie algebroids, for second-order constrained mechanical systems, we derive the corresponding dynamical equations. We find a symplectic Lie subalgebroid where, under some mild regularity conditions, the second-order constrained variational problem, seen as a presymplectic Hamiltonian system, has a unique solution. We study the relationship of this formalism with the second-order constrained Euler-Poincar'e and Lagrange-Poincar'e equations, among others. Our study is applied to the optimal control of mechanical systems.
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Cited in
(14)- Optimal control of affine connection control systems from the point of view of Lie algebroids
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