Optimal control realizations of Lagrangian systems with symmetry

DOI10.1142/S0219887811005853zbMATH Open1243.49053arXiv1203.2207OpenAlexW2013508568MaRDI QIDQ2893174FDOQ2893174

Authors: M. Delgado-Téllez, Thalia Maria Rodríguez De La Peña, A. Ibort 

Publication date: 26 June 2012

Published in: International Journal of Geometric Methods in Modern Physics (Search for Journal in Brave)

Abstract: A new relation among a class of optimal control systems and Lagrangian systems with symmetry is discussed. It will be shown that a family of solutions of optimal control systems whose control equation are obtained by means of a group action are in correspondence with the solutions of a mechanical Lagrangian system with symmetry. This result also explains the equivalence of the class of Lagrangian systems with symmetry and optimal control problems discussed in cite{Bl98}, cite{Bl00}. The explicit realization of this correspondence is obtained by a judicious use of Clebsch variables and Lin constraints, a technique originally developed to provide simple realizations of Lagrangian systems with symmetry. It is noteworthy to point out that this correspondence exchanges the role of state and control variables for control systems with the configuration and Clebsch variables for the corresponding Lagrangian system. These results are illustrated with various simple applications.

Full work available at URL: https://arxiv.org/abs/1203.2207

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zbMATH Keywords

optimal controlvariational problemsLagrangian systems with symmetry

Mathematics Subject Classification ID

Variational problems in a geometric measure-theoretic setting (49Q20)

Cites Work

• Reduction of symplectic manifolds with symmetry
• Title not available (Why is that?)
• Lie-Scheffers systems: a geometric approach
• Lie Theory and Control Systems Defined on Spheres
• System Theory on Group Manifolds and Coset Spaces
• Continuous and discrete Clebsch variational principles
• Lin constraints, Clebsch potentials and variational principles
• The symmetric representation of the rigid body equations and their discretization
• Variational principles on principal fiber bundles: A geometric theory of Clebsch potentials and Lin constraints
• Control of mechanical systems on Lie groups and ideal hydrodynamics

Cited In (5)

• Title not available (Why is that?)
• Symmetries in vakonomic dynamics: Applications to optimal control
• Solving quantum optimal control problems using Clebsch variables and Lin constraints
• A new Lagrangian approach to control affine systems with a quadratic Lagrange term
• Controlled Lagrangians and stabilization of Euler-Poincaré mechanical systems with broken symmetry. II: Potential shaping

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