Natalia Martins, Delfim F. M. Torres
We prove a Noether-type symmetry theorem and a DuBois-Reymond necessary optimality condition for nabla problems of the calculus of variations on time scales.
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The discrete-time, the quantum, and the continuous calculus of variations have been recently unified and extended. Two approaches are followed in the literature: one dealing with minimization of delta integrals; the other dealing with minimization of nabla integrals. Here we propose a more general approach to the calculus of variations on time scales that allows to obtain both delta and nabla results as particular cases.
We begin by presenting the classical deterministic problems of the calculus of variations, with emphasis on the necessary optimality conditions of Euler-Lagrange and the Noether theorem. As examples of application, we obtain the conservation laws of momentum and energy from mechanics, valid along the Euler-Lagrange extremals. We then introduce the stochastic calculus of variations, proving a recent stochastic Noether-type theorem obtained by Cresson. We end by pointing out an interesting open problem.
The theory of the calculus of variations for fuzzy systems was recently initiated in [7], with the proof of the fuzzy Euler-Lagrange equation. Using fuzzy Euler-Lagrange equation, we obtain here a Noether-like theorem for fuzzy variational problems.
In this note we show how one can obtain results from the nabla calculus from results on the delta calculus and vice versa via a duality argument. We provide applications of the main results to the calculus of variations on time scales.
We develop the calculus of variations on time scales for a functional that is the composition of a certain scalar function with the delta and nabla integrals of a vector valued field. Euler-Lagrange equations, transversality conditions, and necessary optimality conditions for isoperimetric problems, on an arbitrary time scale, are proved. Interesting corollaries and examples are presented.
We extend the second Noether theorem to variational problems on time scales. Our result provides as corollaries the classical second Noether theorem, the second Noether theorem for the $h$-calculus and the second Noether theorem for the $q$-calculus.
We consider a general problem of the calculus of variations on time scales with a cost functional that is the composition of a certain scalar function with delta and nabla integrals of a vector valued field. Euler-Lagrange delta-nabla differential equations are proved, which lead to important insights in the process of discretization. Application of the obtained results to a firm that wants to program its production and investment policies to reach a given production rate and to maximize its future market competitiveness is discussed.
We prove a necessary optimality condition of Euler-Lagrange type for variational problems on time scales involving nabla derivatives of higher-order. The proof is done using a new and more general fundamental lemma of the calculus of variations on time scales.
We prove Euler-Lagrange and natural boundary necessary optimality conditions for problems of the calculus of variations which are given by a composition of nabla integrals on an arbitrary time scale. As an application, we get optimality conditions for the product and the quotient of nabla variational functionals.
The discrete, the quantum, and the continuous calculus of variations, have been recently unified and extended by using the theory of time scales. Such unification and extension is, however, not unique, and two approaches are followed in the literature: one dealing with minimization of delta integrals; the other dealing with minimization of nabla integrals. Here we review a more general approach to the calculus of variations on time scales that allows to obtain both delta and nabla results as particular cases.
We prove general necessary optimality conditions for delta-nabla isoperimetric problems of the calculus of variations.
For nonsmooth Euler-Lagrange extremals, Noether's conservation laws cease to be valid. We show that Emmy Noether's theorem of the calculus of variations is still valid in the wider class of Lipschitz functions, as long as one restrict the Euler-Lagrange extremals to those which satisfy the DuBois-Reymond necessary condition. In the smooth case all Euler-Lagrange extremals are DuBois-Reymond extremals, and the result gives a proper extension of the classical Noether's theorem. This is in contrast with the recent developments of Noether's symmetry theorems to the optimal control setting, which g…
In this work we propose a new and more general approach to the calculus of variations on time scales that allows to obtain, as particular cases, both delta and nabla results. More precisely, we pose the problem of minimizing or maximizing the composition of delta and nabla integrals with Lagrangians that involve directional derivatives. Unified Euler-Lagrange necessary optimality conditions, as well as sufficient conditions under appropriate convexity assumptions, are proved. We illustrate presented results with simple examples.
The calculus of variations on time scales is considered. We propose a new approach to the subject that consists in applying a differentiation tool called the contingent epiderivative. It is shown that the contingent epiderivative applied to the calculus of variations on time scales is very useful: it allows to unify the delta and nabla approaches previously considered in the literature. Generalized versions of the Euler-Lagrange necessary optimality conditions are obtained, both for the basic problem of the calculus of variations and isoperimetric problems. As particular cases one gets the rec…
Fractional (or non-integer) differentiation is an important concept both from theoretical and applicational points of view. The study of problems of the calculus of variations with fractional derivatives is a rather recent subject, the main result being the fractional necessary optimality condition of Euler-Lagrange obtained in 2002. Here we use the notion of Euler-Lagrange fractional extremal to prove a Noether-type theorem. For that we propose a generalization of the classical concept of conservation law, introducing an appropriate fractional operator.
We prove Noether-type theorems for fractional isoperimetric variational problems with Riemann-Liouville derivatives. Both Lagrangian and Hamiltonian formulations are obtained. Illustrative examples, in the fractional context of the calculus of variations, are discussed.
We study, in a unified way, the following questions related to the properties of Pontryagin extremals for optimal control problems with unrestricted controls: i) How the transformations, which define the equivalence of two problems, transform the extremals? ii) How to obtain quantities which are conserved along any extremal? iii) How to assure that the set of extremals include the minimizers predicted by the existence theory? These questions are connected to: i) the Caratheodory method which establishes a correspondence between the minimizing curves of equivalent problems; ii) the interplay be…
We review the recent generalized fractional calculus of variations. We consider variational problems containing generalized fractional integrals and derivatives and study them using indirect methods. In particular, we provide necessary optimality conditions of Euler-Lagrange type for the fundamental and isoperimetric problems, natural boundary conditions, and Noether type theorems.
We extend the second Noether theorem to optimal control problems which are invariant under symmetries depending upon k arbitrary functions of the independent variable and their derivatives up to some order m. As far as we consider a semi-invariance notion, and the transformation group may also depend on the control variables, the result is new even in the classical context of the calculus of variations.
We prove a Noether type symmetry theorem to fractional problems of the calculus of variations with classical and Riemann-Liouville derivatives. As result, we obtain constants of motion (in the classical sense) that are valid along the mixed classical/fractional Euler-Lagrange extremals. Both Lagrangian and Hamiltonian versions of the Noether theorem are obtained. Finally, we extend our Noether's theorem to more general problems of optimal control with classical and Riemann-Liouville derivatives.
We prove a DuBois-Reymond necessary optimality condition and a Noether symmetry theorem to the recent quantum variational calculus of Cresson. The results are valid for problems of the calculus of variations with functionals defined on sets of nondifferentiable functions. As an application, we obtain a constant of motion for a linear Schrodinger equation.
In this PhD thesis we introduce a generalized fractional calculus of variations. We consider variational problems containing generalized fractional integrals and derivatives, and study them using standard (indirect) and direct methods. In particular, we obtain necessary optimality conditions of Euler-Lagrange type for the fundamental and isoperimetric problems, natural boundary conditions, and Noether theorems. Existence of solutions is shown under Tonelli type conditions. Moreover, we apply our results to prove existence of eigenvalues, and corresponding orthogonal eigenfunctions, to fraction…
Since the seminal work of Emmy Noether it is well know that all conservations laws in physics, \textrm{e.g.}, conservation of energy or conservation of momentum, are directly related to the invariance of the action under a family of transformations. However, the classical Noether's theorem can not yields informations about constants of motion for non-conservative systems since it is not possible to formulate physically meaningful Lagragians for this kind of systems in classical calculus of variation. On the other hand, in recent years the fractional calculus of variation within Lagrangians dep…
We prove a Noether's theorem for fractional variational problems with Riesz-Caputo derivatives. Both Lagrangian and Hamiltonian formulations are obtained. Illustrative examples in the fractional context of the calculus of variations and optimal control are given.
We develop a non-anticipating calculus of variations for functionals on a space of laws of continuous semi-martingales, which extends the classical one. We extend Hamilton's least action principle and Noether's theorem to this generalized stochastic framework. As an application we obtain, under mild conditions, a stochastic Euler-Lagrange condition and invariants for the critical points of recent problems in stochastic control, namely for the semi-martingale optimal transportation problems.
In this paper, we study a class of fractional optimal control problems. A necessary condition for the existence of an optimal control is provided in the literature. It is commonly given as the existence of a solution of a fractional Pontryagin's system and the proof is based on the introduction of a Lagrange multiplier. Assuming an additional condition on these problems, we suggest a new presentation of this result with a proof using only classical mathematical tools adapted to the fractional case: calculus of variations, Gronwall's Lemma, Cauchy-Lipschitz Theorem and stability under perturbat…
We present an extension of some results of higher order calculus of variations and optimal control to generalized functions. The framework is the category of generalized smooth functions, which includes Schwartz distributions, while sharing many nonlinear properties with ordinary smooth functions. We prove the higher order Euler-Lagrange equations, the D'Alembert principle in differential form, the du Bois-Reymond optimality condition and the Noether's theorem. We start the theory of optimal control proving a weak form of the Pontryagin maximum principle and the Noether's theorem for optimal c…
We extend the DuBois-Reymond necessary optimality condition and Noether's symmetry theorem to the time delay variational setting. Both Lagrangian and Hamiltonian versions of Noether's theorem are proved, covering problems of the calculus of variations and optimal control with delays.
We show that for any variational symmetry of the problem of the calculus of variations on time scales there exists a conserved quantity along the respective Euler-Lagrange extremals.
We present analytic computational tools that permit us to identify, in an automatic way, conservation laws in optimal control. The central result we use is the famous Noether's theorem, a classical theory developed by Emmy Noether in 1918, in the context of the calculus of variations and mathematical physics, and which was extended recently to the more general context of optimal control. We show how a Computer Algebra System can be very helpful in finding the symmetries and corresponding conservation laws in optimal control theory, thus making useful in practice the theoretical results recentl…
We prove Euler-Lagrange type equations and transversality conditions for generalized infinite horizon problems of the calculus of variations on time scales. Here the Lagrangian depends on the independent variable, an unknown function and its nabla derivative, as well as a nabla indefinite integral that depends on the unknown function.
The fundamental problem of calculus of variations is considered when solutions are differentiable curves on locally convex spaces. Such problems admit an extension of the Euler-Lagrange equations [Orlov 2002] for continuously normally differentiable Lagrangians. Here, we formulate a Legendre condition and an extension of the classical theorem of Emmy Noether, thus obtaining first integrals for problems of the calculus of variations on locally convex spaces.
We extend Noether's theorem to dynamical optimal control systems being under the action of nonconservative forces. A systematic way of calculating conservation laws for nonconservative optimal control problems is given. As a corollary, the conserved quantities previously obtained in the literature for nonconservative problems of mechanics and the calculus of variations are derived.
We begin by reporting on some recent results of the authors (Frederico and Torres, 2006), concerning the use of the fractional Euler-Lagrange notion to prove a Noether-like theorem for the problems of the calculus of variations with fractional derivatives. We then obtain, following the Lagrange multiplier technique used in (Agrawal, 2004), a new version of Noether's theorem to fractional optimal control systems.
We study incommensurate fractional variational problems in terms of a generalized fractional integral with Lagrangians depending on classical derivatives and generalized fractional integrals and derivatives. We obtain necessary optimality conditions for the basic and isoperimetric problems, transversality conditions for free boundary value problems, and a generalized Noether type theorem.
The fundamental problem of the calculus of variations on time scales concerns the minimization of a delta-integral over all trajectories satisfying given boundary conditions. In this paper we prove the second Euler-Lagrange necessary optimality condition for optimal trajectories of variational problems on time scales. As an example of application of the main result, we give an alternative and simpler proof to the Noether theorem on time scales recently obtained in [J. Math. Anal. Appl. 342 (2008), no. 2, 1220-1226].
We prove multidimensional integration by parts formulas for generalized fractional derivatives and integrals. The new results allow us to obtain optimality conditions for multidimensional fractional variational problems with Lagrangians depending on generalized partial integrals and derivatives. A generalized fractional Noether's theorem, a formulation of Dirichlet's principle and an uniqueness result are given.
In the present work, we formulate a generalization of the Noether Theorem for action-dependent Lagrangian functions. The Noether's theorem is one of the most important theorems for physics. It is well known that all conservation laws, \textrm{e.g.}, conservation of energy and momentum, are directly related to the invariance of the action under a family of transformations. However, the classical Noether theorem cannot be applied to study non-conservative systems because it is not possible to formulate physically meaningful Lagrangian functions for this kind of systems in the classical calculus …
English version of abstract: The dynamic optimization problems treated by the calculus of variations are usually solved with the help of the 2nd order Euler-Lagrange differential equations. These equations are, generally speaking, nonlinear, and very hard to solve. One way to address the problem is to obtain conservation laws of lower order than those of the corresponding Euler-Lagrange equations. While in Physics and Economics the question of existence of conservation laws is treated in a rather natural way, because the application itself suggest the conservation laws (e.g., conservation of e…
In the present work, by taking advantage of a so-called practical limitation of fractional derivatives, namely, the absence of a simple chain and Leibniz's rules, we proposed a generalized fractional calculus of variation where the Lagrangian function depends on fractional derivatives of differentiable functions. The Euler-Lagrange equation we obtained generalizes previously results and enables us to construct simple Lagrangians for nonlinear systems. Furthermore, in our main result, we formulate a Noether-type theorem for these problems that provides us with a means to obtain conservative qua…
We extend Noether's symmetry theorem to the fractional Riemann-Liouville integral functionals of the calculus of variations recently introduced by El-Nabulsi.
Invariant conditions for conformable fractional problems of the calculus of variations under the presence of external forces in the dynamics are studied. Depending on the type of transformations considered, different necessary conditions of invariance are obtained. As particular cases, we prove fractional versions of Noether's symmetry theorem. Invariant conditions for fractional optimal control problems, using the Hamiltonian formalism, are also investigated. As an example of potential application in Physics, we show that with conformable derivatives it is possible to formulate an Action Prin…
Optimal control problems are usually addressed with the help of the famous Pontryagin Maximum Principle (PMP) which gives a generalization of the classical Euler-Lagrange and Weierstrass necessary optimality conditions of the calculus of variations. Success in applying the PMP permits to obtain candidates for a local minimum. In 1967 a direct method, which permits to obtain global minimizers directly, without using necessary conditions, was introduced by Leitmann. Leitmann's approach is connected, as showed by Carlson in 2002, with "Caratheodory's royal road of the Calculus of variations". Her…
Using the recent formulation of Noether's theorem for the problems of the calculus of variations with fractional derivatives, the Lagrange multiplier technique, and the fractional Euler-Lagrange equations, we prove a Noether-like theorem to the more general context of the fractional optimal control. As a corollary, it follows that in the fractional case the autonomous Hamiltonian does not define anymore a conservation law. Instead, it is proved that the fractional conservation law adds to the Hamiltonian a new term which depends on the fractional-order of differentiation, the generalized momen…
We deal with direct and inverse problems of the calculus of variations on arbitrary time scales. Firstly, using the Euler-Lagrange equation and the strengthened Legendre condition, we give a general form for a variational functional to attain a local minimum at a given point of the vector space. Furthermore, we provide a necessary condition for a dynamic integro-differential equation to be an Euler-Lagrange equation (Helmholtz's problem of the calculus of variations on time scales). New and interesting results for the discrete and quantum settings are obtained as particular cases. Finally, we …
We extend the DuBois-Reymond necessary optimality condition and Noether's symmetry theorem to the scale relativity theory setting. Both Lagrangian and Hamiltonian versions of Noether's theorem are proved, covering problems of the calculus of variations with functionals defined on sets of non-differentiable functions, as well as more general non-differentiable problems of optimal control. As an application we obtain constants of motion for some linear and nonlinear variants of the Schrodinger equation.
The study of problems of the calculus of variations with compositions is a quite recent subject with origin in dynamical systems governed by chaotic maps. Available results are reduced to a generalized Euler-Lagrange equation that contains a new term involving inverse images of the minimizing trajectories. In this work we prove a generalization of the necessary optimality condition of DuBois-Reymond for variational problems with compositions. With the help of the new obtained condition, a Noether-type theorem is proved. An application of our main result is given to a problem appearing in the c…
We obtain a discrete time analog of E. Noether's theorem in Optimal Control, asserting that integrals of motion associated to the discrete time Pontryagin Maximum Principle can be computed from the quasi-invariance properties of the discrete time Lagrangian and discrete time control system. As corollaries, results for first-order and higher-order discrete problems of the calculus of variations are obtained.
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