Aubry-Mather approach to optimal control problems with nonholonimic constraints

arXiv2306.03808MaRDI QIDQ6510461FDOQ6510461

Authors: Piermarco Cannarsa, Cristian Mendico 

Abstract: The aim of this work is to provide a systemic study and generalization of the celebrated weak KAM theory and Aubry-Mather theory in sub-Riemannian setting, or equivalently, on a Carnot-Caratheodory metric space. In this framework we consider an optimal control problem with state equation of sub-Riemannian type, namely, admissible trajectories are solutions of a linear in control and nonlinear in space ODE. Such a nonlinearity is given by a family of smooth vector fields satisfying the Hormander condition which implies the controllability of the system. In this case, the Hamiltonian function associated with the above control problem fails to be coercive and thus the results in the Tonelli setting can not be applied. In order to overcome this issue, our approach is based on metric properties of the geometry induced on the state space by the sub-Riemannian structure.

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