Regular reduction of controlled Hamiltonian system with symplectic structure and symmetry

DOI10.1016/J.DIFGEO.2014.01.003zbMATH Open1393.70034arXiv1202.3564OpenAlexW2963194992WikidataQ115356385 ScholiaQ115356385MaRDI QIDQ499508FDOQ499508

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)

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.

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

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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)

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Cited In (6)

• Reduction of Controlled Lagrangian and Hamiltonian Systems with 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
• Repetitive control of Hamiltonian systems based on variational symmetry
• Symmetric Reduction and Hamilton-Jacobi Equations of the Controlled Underwater Vehicle-Rotor System

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