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

DOI10.1142/S0219887814500388zbMath1302.49026arXiv1406.3403MaRDI QIDQ2929932

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 groupsLie algebroidsoptimal control problemsaffine connection control systems

Mathematics Subject Classification ID

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

Related Items (3)

About simple variational splines from the Hamiltonian viewpoint ⋮ Second-order variational problems on Lie groupoids and optimal control applications ⋮ Higher-order variational calculus on Lie algebroids

Cites Work

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

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