Optimal control realizations of Lagrangian systems with symmetry

DOI10.1142/S0219887811005853MaRDI QIDQ2893174zbMATH OpenOpenAlexFDO

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)

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

zbMATH Keywords

optimal controlvariational problemsLagrangian systems with symmetry

Mathematics Subject Classification ID

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

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.

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Cites work

• scientific article; zbMATH DE number 1687005 (Why is no real title available?)
• Continuous and discrete Clebsch variational principles
• Control of mechanical systems on Lie groups and ideal hydrodynamics
• Lie Theory and Control Systems Defined on Spheres
• Lie-Scheffers systems: a geometric approach
• Lin constraints, Clebsch potentials and variational principles
• Reduction of symplectic manifolds with symmetry
• System Theory on Group Manifolds and Coset Spaces
• 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

Cited in

(5)

• scientific article; zbMATH DE number 26898 (Why is no real title available?)
• 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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