Cubic polynomials on Lie groups: reduction of the Hamiltonian system

DOI10.1088/1751-8113/44/35/355203zbMATH Open1243.70015OpenAlexW3102122265MaRDI QIDQ3173020FDOQ3173020

Authors Lígia Abrunheiro, Margarida Camarinha, J. Clemente-Gallardo 

Publication date 10 October 2011

Published in Journal of Physics A: Mathematical and Theoretical (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1102.2324

zbMATH Keywords

Hamiltonian systemssymmetriesLie groups and Lie algebras

Mathematics Subject Classification ID

Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65)

Abstract: This paper analyzes the optimal control problem of cubic polynomials on compact Lie groups from a Hamiltonian point of view and its symmetries. The dynamics of the problem is described by a presymplectic formalism associated with the canonical symplectic form on the cotangent bundle of the semidirect product of the Lie group and its Lie algebra. Using these control geometric tools, the relation between the Hamiltonian approach developed here and the known variational one is analyzed. After making explicit the left trivialized system, we use the technique of Marsden-Weinstein reduction to remove the symmetries of the Hamiltonian system. In view of the reduced dynamics, we are able to guarantee, by means of the Lie-Cartan theorem, the existence of a considerable number of independent integrals of motion in involution.

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Cited In (10)

• CUBIC POLYNOMIALS ON SO(3)
• Optimal control of affine connection control systems from the point of view of Lie algebroids
• Second order Lagrangian dynamics on double cross product groups
• Rolling maps and nonlinear data
• Geometry of a second order optimal control problem. Riemannian cubic polynomials
• Tulczyjew’s triplet for lie groups III: Higher order dynamics and reductions for iterated bundles
• Hybrid quantum-classical control problems
• About simple variational splines from the Hamiltonian viewpoint
• High-order splines on Riemannian manifolds
• Riemannian cubics close to geodesics at the boundaries

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