Regular reduction of controlled Hamiltonian system with symplectic structure and symmetry

DOI10.1016/J.DIFGEO.2014.01.003MaRDI QIDQ499508zbMATHOpenAlexWikidataFDO

Authors J. E. Marsden, Zhenxing Zhang, Hong Wang

Publication date 30 September 2015

Published in Differential Geometry and its Applications (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1202.3564

zbMATH Keywords

momentum mapsymplectic structureRCH-equivalenceregular controlled Hamiltonian systemregular Hamiltonian reduction

Mathematics Subject Classification ID

Momentum maps; symplectic reduction (53D20) Symmetries and conservation laws, reverse symmetries, invariant manifolds and their bifurcations, reduction for problems in Hamiltonian and Lagrangian mechanics (70H33) Control of mechanical systems (70Q05) Symmetries, Lie group and Lie algebra methods for problems in mechanics (70G65) Geometric methods (93B27)

Abstract: In this paper, our goal is to study the regular reduction theory of regular controlled Hamiltonian (RCH) systems with symplectic structure and symmetry, and this reduction is an extension of regular symplectic reduction theory of Hamiltonian systems under regular controlled Hamiltonian equivalence conditions. Thus, in order to describe uniformly RCH systems defined on a cotangent bundle and on the regular reduced spaces, we first define a kind of RCH systems on a symplectic fiber bundle. Then introduce regular point and regular orbit reducible RCH systems with symmetry by using momentum map and the associated reduced symplectic forms. Moreover, we give regular point and regular orbit reduction theorems for RCH systems to explain the relationships between RpCH-equivalence, RoCH-equivalence for reducible RCH systems with symmetry and RCH-equivalence for associated reduced RCH systems. Finally, as an application we regard rigid body and heavy top as well as them with internal rotors as the regular point reducible RCH systems on the rotation group $extmdSO(3)$ and on the Euclidean group $extmdSE(3)$,as well as on their generalizations, respectively, and discuss their RCH-equivalence. We also describe the RCH system and RCH-equivalence from the viewpoint of port Hamiltonian system with a symplectic structure.

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Cited in

(7)

• Repetitive control of Hamiltonian systems based on variational symmetry
• Hamilton-Jacobi theorems for regular reducible Hamiltonian systems on a cotangent bundle
• Optimal reduction of controlled Hamiltonian system with Poisson structure and symmetry
• Hamilton-Jacobi equations for a regular controlled Hamiltonian system and its reduced systems
• Some developments of reduction theory for controlled Hamiltonian system with symmetry
• Reduction of Controlled Lagrangian and Hamiltonian Systems with Symmetry
• Symmetric Reduction and Hamilton-Jacobi Equations of the Controlled Underwater Vehicle-Rotor System

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