Optimal control of affine connection control systems from the point of view of Lie algebroids

DOI10.1142/S0219887814500388MaRDI QIDQ2929932zbMATH OpenFDO

Authors Lígia Abrunheiro, Margarida Camarinha

Publication date 17 November 2014

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

Full work available at URL https://arxiv.org/abs/1406.3403

zbMATH Keywords

Lie groupsoptimal control problemsLie algebroidsaffine connection control systems

Mathematics Subject Classification ID

Methods of local Riemannian geometry (53B21) Existence theories for optimal control problems involving ordinary differential equations (49J15) Differential geometry of homogeneous manifolds (53C30) Robot dynamics and control of rigid bodies (70E60) Hamilton's equations (70H05) Topological groupoids (including differentiable and Lie groupoids) (22A22) Existence theories in calculus of variations and optimal control (49J99) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65)

Abstract: The purpose of this paper is to use the framework of Lie algebroids to study optimal control problems for affine connection control systems on Lie groups. In this context, the equations for critical trajectories of the problem are geometrically characterized as a Hamiltonian vector field.

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Cites work

• Cubic Splines on Curved Spaces
• Cubic polynomials on Lie groups: reduction of the Hamiltonian system
• Invariant higher-order variational problems
• Optimal control of underactuated mechanical systems: A geometric approach
• The dynamic interpolation problem: on Riemannian manifolds, Lie groups, and symmetric spaces

Cited in

(8)

• Error-based control systems on Riemannian state manifolds: properties of the principal pushforward map associated to parallel transport
• Lie algebroids and optimal control: abnormality
• Lie algebraic obstructions to \(\Gamma\)-convergence of optimal control problems
• Study on geometric structures on Lie algebroids with optimal control applications
• Second-order variational problems on Lie groupoids and optimal control applications
• Higher-order variational calculus on Lie algebroids
• Some applications of quasi-velocities in optimal control
• About simple variational splines from the Hamiltonian viewpoint

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