Variational integrators for mechanical control systems with symmetries

DOI10.3934/JCD.2015003MaRDI QIDQ317181zbMATH OpenOpenAlexFDO

Authors Leonardo Colombo, Fernando Jiménez, David Martín de Diego

Publication date 30 September 2016

Published in Journal of Computational Dynamics (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1209.6315

zbMATH Keywords

optimal controlvariational integratorsconstrained mechanicsdiscrete variational calculushigher-order mechanicsunderactuated systems

Mathematics Subject Classification ID

Geometric methods in ordinary differential equations (34A26) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) Existence theories for free problems in one independent variable (49J05) Hamiltonian and Lagrangian mechanics (70Hxx)

Abstract: Optimal control problems for underactuated mechanical systems can be seen as a higher-order variational problem subject to higher-order constraints (that is, when the Lagrangian function and the constraints depend on higher-order derivatives such as the acceleration, jerk or jounces). In this paper we discuss the variational formalism for the class of underactuated mechanical control systems when the configuration space is a trivial principal bundle and the construction of variational integrators for such mechanical control systems. An interesting family of geometric integrators can be defined using discretizations of the Hamilton's principle of critical action. This family of geometric integrators is called variational integrators, being one of their main properties the preservation of geometric features as the symplecticity, momentum preservation and good behavior of the energy. We construct variational integrators for higher-order mechanical systems on trivial principal bundles and their extension for higher-order constrained systems and we devote special attention to the particular case of underactuated mechanical systems

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