Symmetry reduction of optimal control systems and principal connections

DOI10.1137/110835219MaRDI QIDQ4920252zbMATH OpenOpenAlexFDO

Authors Tomoki Ohsawa

Publication date 16 May 2013

Published in SIAM Journal on Control and Optimization (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1105.5174

zbMATH Keywords

Hamiltonian reductionmomentum mapsoptimal controlPoisson reductionprincipal connectionssymmetry reduction

Mathematics Subject Classification ID

Existence theories for optimal control problems involving ordinary differential equations (49J15) Momentum maps; symplectic reduction (53D20) Hamilton's equations (70H05) Hamilton's principle (70H25)

Abstract: This paper explores the role of symmetries and reduction in nonlinear control and optimal control systems. The focus of the paper is to give a geometric framework of symmetry reduction of optimal control systems as well as to show how to obtain explicit expressions of the reduced system by exploiting the geometry. In particular, we show how to obtain a principal connection to be used in the reduction for various choices of symmetry groups, as opposed to assuming such a principal connection is given or choosing a particular symmetry group to simplify the setting. Our result synthesizes some previous works on symmetry reduction of nonlinear control and optimal control systems. Affine and kinematic optimal control systems are of particular interest: We explicitly work out the details for such systems and also show a few examples of symmetry reduction of kinematic optimal control problems.

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Cited in

(16)

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