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

DOI10.3934/DCDS.2016064zbMATH Open1404.70037arXiv1506.08580OpenAlexW2963460487MaRDI QIDQ325223FDOQ325223

Authors: Leonardo Colombo, David Martín de Diego 

Publication date: 18 October 2016

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

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.

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

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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)

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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

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