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arXiv 1104.3221math-phcs.SYeess.SYmath.DGmath.MPmath.OC
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关于李群上高阶变分问题的几何

On the geometry of higher-order variational problems on Lie groups

Instituto de Ciencias Matemáticas (CSIC-UAM-UC3M-UCM)(数学科学研究所)

Leonardo Colombo, David Martin de Diego

AI总结:

本文通过左平凡化李群的高阶切丛并改进Skinner-Rusk形式,建立了李群上高阶拉格朗日问题的内蕴框架,推导了高阶Euler-Poincaré方程并应用于欠驱动控制系统的优化控制。

摘要:

在本文中,我们描述了李群上高阶拉格朗日问题的一个几何框架。通过左平凡化李群的高阶切丛并改编经典的Skinner-Rusk形式,我们推导了这类动力系统的内蕴框架。文中展示了有趣的应用,例如高阶Euler-Poincaré方程的几何推导、配置空间为李群的欠驱动控制系统的优化控制等。

英文摘要:

In this paper, we describe a geometric setting for higher-order lagrangian problems on Lie groups. Using left-trivialization of the higher-order tangent bundle of a Lie group and an adaptation of the classical Skinner-Rusk formalism, we deduce an intrinsic framework for this type of dynamical systems. Interesting applications as, for instance, a geometric derivation of the higher-order Euler-Poincaré equations, optimal control of underactuated control systems whose configuration space is a Lie group are shown, among others, along the paper.

机构、总结、中文摘要均由AI分析而来,可能存在错误,请以论文正文为准。

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