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math.OC2026
Poisson Hamiltonian Pontryagin Dynamics and Optimal Control of Mechanical Systems on Lie Groupoids
Ghorbanali Haghighatdoost
We develop a Poisson Hamiltonian formulation of Pontryagin dynamics for optimal control of mechanical systems on Lie groupoids. The reduced dynamics is formulated intrinsically on…
math.OC2024
Optimal control problems on the co-adjoint Lie groupoids
Ghorbanali Haghighatdoost
In this work we study the invariant optimal control problem on Lie groupoids. We show that any invariant optimal control problem on a Lie groupoid reduces to its co-adjoint Lie alg…