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

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

2011-04-16

arxiv.org/abs/1104.3221v1

Physics

Mathematical Physics

20 pages, 4 figures

Scientific paper

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-Poincar\'e equations, optimal control of underactuated control systems whose configuration space is a Lie group are shown, among others, along the paper.

Affiliated with

Also associated with

No associations

Rating

On the geometry of higher-order variational problems on Lie groups does not yet have a rating. At this time, there are no reviews or comments for this scientific paper.

If you have personal experience with On the geometry of higher-order variational problems on Lie groups, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and On the geometry of higher-order variational problems on Lie groups will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFWR-SCP-O-347271