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arXiv · 2503.04466

A new Lagrangian approach to optimal control of second-order systems

Michael Konopik·Sigrid Leyendecker·Sofya Maslovskaya·Sina Ober-Blöbaum·Rodrigo T. Sato Martín de Almagro
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Abstract

In this work, we propose and study a new approach to formulate the optimal control problem of second-order differential equations, with a particular interest in those derived from force-controlled Lagrangian systems. The formulation results in a new hyperregular control Langrangian and, thus, a new control Hamiltonian whose equations of motion provide necessary optimality conditions. We compare this approach to Pontryagin's maximum principle (PMP) in this setting, providing geometric insight into their relation. This leads us to define an extended Tulczyjew's triple with controls. Moreover, we study the relationship between Noether symmetries of this new formulation and those of the PMP.

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Michael Konopik, Sigrid Leyendecker, Sofya Maslovskaya, Sina Ober-Blöbaum, Rodrigo T. Sato Martín de Almagro. 2025-03-06. A new Lagrangian approach to optimal control of second-order systems. https://arxiv.org/abs/2503.04466

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