Second-order variational problems on Lie groupoids and optimal control applications

DOI10.3934/DCDS.2016064MaRDI QIDQ325223zbMATH OpenOpenAlexFDO

Authors Leonardo Colombo, David Martín de Diego

Publication date 18 October 2016

Published in Discrete and Continuous Dynamical Systems (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1506.08580

zbMATH Keywords

geometric integrationoptimal controlLagrangian submanifoldsLie algebroidsLie groupoidsdiscrete Lagrangian mechanicshigher-order variational problems

Mathematics Subject Classification ID

Existence theories for optimal control problems involving ordinary differential equations (49J15) Poisson manifolds; Poisson groupoids and algebroids (53D17) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Discretization methods and integrators (symplectic, variational, geometric, etc.) for dynamical systems (37M15) Other variational principles in mechanics (70H30)

Abstract: In this paper we study, from a variational and geometrical point of view, second-order variational problems on Lie groupoids and the construction of variational integrators for optimal control problems. First, we develop variational techniques for second-order variational problems on Lie groupoids and their applications to the construction of variational integrators for optimal control problems of mechanical systems. Next, we show how Lagrangian submanifolds of a symplectic groupoid gives intrinsically the discrete dynamics for second-order systems, both unconstrained and constrained, and we study the geometric properties of the implicit flow which defines the dynamics in the Lagrangian submanifold. We also study the theory of reduction by symmetries and the corresponding Noether theorem.

Recommendations

• Second-order constrained variational problems on Lie algebroids: applications to optimal control
• Higher-order variational problems on Lie groups and optimal control applications
• Discrete second-order Euler-Poincaré equations: applications to optimal control
• On variational integrators for optimal control of mechanical control systems
• Variational problems on Lie algebroids.

Cites work

• scientific article; zbMATH DE number 2129143 (Why is no real title available?)
• scientific article; zbMATH DE number 3929982 (Why is no real title available?)
• scientific article; zbMATH DE number 4094430 (Why is no real title available?)
• scientific article; zbMATH DE number 3513041 (Why is no real title available?)
• scientific article; zbMATH DE number 3522897 (Why is no real title available?)
• scientific article; zbMATH DE number 1745051 (Why is no real title available?)
• scientific article; zbMATH DE number 1908173 (Why is no real title available?)
• scientific article; zbMATH DE number 2115766 (Why is no real title available?)
• scientific article; zbMATH DE number 822678 (Why is no real title available?)
• scientific article; zbMATH DE number 857082 (Why is no real title available?)
• scientific article; zbMATH DE number 7587657 (Why is no real title available?)
• scientific article; zbMATH DE number 3366191 (Why is no real title available?)
• A geometric approach to the optimal control of nonholonomic mechanical systems
• Algebraic constructions in the category of Lie algebroids
• Bundle-theoretic methods for higher-order variational calculus
• Coisotropic calculus and Poisson groupoids
• Cubic Splines on Curved Spaces
• Discrete Euler-Poincaré and Lie-Poisson equations
• Discrete Lagrangian and Hamiltonian mechanics on Lie groupoids
• Discrete Lagrangian reduction, discrete Euler-Poincaré equations, and semidirect products
• Discrete calculus of variations
• Discrete dynamics in implicit form
• Discrete mechanics and variational integrators
• Discrete nonholonomic Lagrangian systems on Lie groupoids
• Discrete second-order Euler-Poincaré equations: applications to optimal control
• Discrete versions of some classical integrable systems and factorization of matrix polynomials
• Geometric integrators for higher-order variational systems and their application to optimal control
• Geometric structure-preserving optimal control of a rigid body
• HIGHER-ORDER DISCRETE LAGRANGIAN MECHANICS
• Hamilton-Pontryagin integrators on Lie groups. I: Introduction and structure-preserving properties
• Higher order Lagrange-Poincaré and Hamilton-Poincaré reductions
• Higher order mechanics on graded bundles
• Higher-order smoothing splines versus least squares problems on Riemannian manifolds
• Higher-order variational calculus on Lie algebroids
• Higher-order variational problems on Lie groups and optimal control applications
• Inexact trajectory planning and inverse problems in the Hamilton-Pontryagin framework
• Invariant higher-order variational problems
• Invariant higher-order variational problems. II
• Lagrangian mechanics on Lie algebroids
• Lagrangian submanifolds and dynamics on Lie algebroids
• Lagrangian–Hamiltonian unified formalism for autonomous higher order dynamical systems
• Lie algebroids in classical mechanics and optimal control
• Lie-Poisson Hamilton-Jacobi theory and Lie-Poisson integrators
• Nonholonomic Lagrangian systems on Lie algebroids
• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
• Optimal attitude control of a rigid body using geometrically exact computations on \(SO(3)\)
• Optimal control of affine connection control systems from the point of view of Lie algebroids
• Optimal control of underactuated mechanical systems: A geometric approach
• Singular Lagrangian systems and variational constrained mechanics on Lie algebroids
• Splines of class C^k on non-euclidean spaces
• Symmetry reduction of discrete Lagrangian mechanics on Lie groups
• Symplectic groupoids and discrete constrained Lagrangian mechanics
• The dynamic interpolation problem: on Riemannian manifolds, Lie groups, and symmetric spaces
• The local description of discrete mechanics
• Variational calculus on Lie algebroids

Cited in

(5)

• Reduction by group symmetry of second order variational problems on a semidirect product of Lie groups with positive definite Riemannian metric
• Discrete second-order Euler-Poincaré equations: applications to optimal control
• Second-order constrained variational problems on Lie algebroids: applications to optimal control
• The variational discretization of the constrained higher-order Lagrange-Poincaré equations
• Higher-order variational problems on Lie groups and optimal control applications

This page was built for publication: Second-order variational problems on Lie groupoids and optimal control applications

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q325223)