Title :
Poisson reduction of optimal control systems
Author_Institution :
Dept. of Math., Univ. of California, San Diego, CA, USA
Abstract :
This paper explores the role of symmetries and reduction in nonlinear control and optimal control systems. We formulate symmetries in nonlinear control systems and then link it to symmetries in optimal control of such systems. We apply Poisson reduction to the Pontryagin maximum principle to reduce the optimal control system. Affine and kinematic optimal control systems are of particular interest: We show an example of kinematic optimal control to illustrate how the reduction simplifies optimal control systems.
Keywords :
kinematics; maximum principle; nonlinear control systems; optimal control; reduced order systems; stochastic processes; Poisson reduction; Pontryagin maximum principle; kinematic optimal control system; nonlinear control reduction system; Aerospace electronics; Equations; Kinematics; Nonlinear control systems; Optimal control; Vectors;
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
DOI :
10.1109/CDC.2011.6161027
