Related papers: Lie Algebroids in Classical Mechanics and Optimal …

The equations for the critical points of the action functional defined by a Lagrangian depending on higher-order derivatives of admissible curves on a Lie algebroid are found. The relation with Euler-Poincar\'e and Lagrange Poincar\'e type…

A scheme for generating a family of convex variational principles is developed, the Euler- Lagrange equations of each member of the family formally corresponding to the necessary conditions of optimal control of a given system of ordinary…

For an optimal control problem, the concept of a strong local infimum is introduce, for which necessary conditions consisting of some family of "maximum principles" are formulated. If a function delivers a strong local minimum in this…

In this paper we will study three hypotheses proposed by L. I. Rozonoer (Automation and Remote Control, 2003, vol.64, no.8, pp.1237--1240) in optimal control theory in order to derive conditions for the existence of an optimal control under…

We address the generalized variational problem of Herglotz from an optimal control point of view. Using the theory of optimal control, we derive a generalized Euler-Lagrange equation, a transversality condition, a DuBois-Reymond necessary…

Optimal Control Theory is a powerful mathematical tool, which has known a rapid development since the 1950s, mainly for engineering applications. More recently, it has become a widely used method to improve process performance in quantum…

The Pontryagin's Maximum Principle allows, in most cases, the design of optimal controls of affine nonlinear control systems by considering the sign of a smooth function. There are cases, although, where this function vanishes on a whole…

We develop a Lagrangian approach for constructing a symplectic structure for singular systems. It gives a simple and unified framework for understanding the origin of the pathologies that appear in the Dirac-Bergmann formalism, and offers a…

We will prove that the generalized Lie algebroid is a distinguished example by Lie algebroid. The generality of it with respect to the Lie algebroid is similar with the generality of the pull-back vector bundle with respect to the vector…

We present a new geometric unfolding of a prototype problem of optimal control theory, the Mayer problem. This approach is crucially based on the Stokes Theorem and yields to a necessary and sufficient condition that characterizes the…

The first-order optimality conditions for a generic nonlinear optimization problem are generated as part of the terminal transversality conditions of an optimal control problem. It is shown that the Lagrangian of the optimization problem is…

The augmented Lagrange method is employed to address the optimal control problem involving pointwise state constraints in parabolic equations. The strong convergence of the primal variables and the weak convergence of the dual variables are…

Lagrangian particle formulations of the large deformation diffeomorphic metric mapping algorithm (LDDMM) only allow for the study of a single shape. In this paper, we introduce and discuss both a theoretical and practical setting for the…

We study a constrained optimal control problem for an ensemble of control systems. Each sub-system (or plant) evolves on a matrix Lie group, and must satisfy given state and control action constraints pointwise in time. In addition, certain…

We reconsider the variational integration of optimal control problems for mechanical systems based on a direct discretization of the Lagrange-d'Alembert principle. This approach yields discrete dynamical constraints which by construction…

In this short communication, we first recall a version of the Pontryagin maximum principle for general finite-dimensional nonlinear optimal sampled-data control problems. This result was recently obtained in [L. Bourdin and E. Tr{\'e}lat ,…

In the context of the variational bi-complex, we re-explain that irreducible gauge systems define a particular example of a Lie algebroid. This is used to review some recent and not so recent results on gauge, global and asymptotic…

We study the selective and robust time-optimal rotation control of several spin-1/2 particles with different offset terms. For that purpose, the Pontryagin Maximum Principle is applied to a model of two spins, which is simple enough for…

This work advances the maximum hands-off sparse control framework by developing a robust counterpart for constrained linear systems with parametric uncertainties. The resulting optimal control problem minimizes an $L^{0}$ objective subject…

In this paper we discuss variational constrained mechanics (vakonomic mechanics) on Lie affgebroids. We obtain the dynamical equations and the aff-Poisson bracket associated with a vakonomic system on a Lie affgebroid ${\mathcal A}$. We…