Weak Conservation Laws for Minimizers which are not Pontryagin Extremals

We prove a Noether-type symmetry theorem for invariant optimal control problems with unrestricted controls. The result establishes weak conservation laws along all the minimizers of the problems, including those minimizers which do not satisfy the Pontryagin Maximum Principle.Comment: Accepted for presentation (Paper No: 113) at the 2nd International Conference "Physics and Control" (PhysCon 2005), August 24-26, 2005, Saint Petersburg, Russia. To appear in the respective Conference Proceeding

Lipschitzian Regularity of the Minimizing Trajectories for Nonlinear Optimal Control Problems

We consider the Lagrange problem of optimal control with unrestricted controls and address the question: under what conditions we can assure optimal controls are bounded? This question is related to the one of Lipschitzian regularity of optimal trajectories, and the answer to it is crucial for closing the gap between the conditions arising in the existence theory and necessary optimality conditions. Rewriting the Lagrange problem in a parametric form, we obtain a relation between the applicability conditions of the Pontryagin maximum principle to the later problem and the Lipschitzian regularity conditions for the original problem. Under the standard hypotheses of coercivity of the existence theory, the conditions imply that the optimal controls are essentially bounded, assuring the applicability of the classical necessary optimality conditions like the Pontryagin maximum principle. The result extends previous Lipschitzian regularity results to cover optimal control problems with general nonlinear dynamics.Comment: This research was partially presented, as an oral communication, at the international conference EQUADIFF 10, Prague, August 27-31, 2001. Accepted for publication in the journal Mathematics of Control, Signals, and Systems (MCSS). See http://www.mat.ua.pt/delfim for other work

Caratheodory-Equivalence, Noether Theorems, and Tonelli Full-Regularity in the Calculus of Variations and Optimal Control

We study, in a unified way, the following questions related to the properties of Pontryagin extremals for optimal control problems with unrestricted controls: i) How the transformations, which define the equivalence of two problems, transform the extremals? ii) How to obtain quantities which are conserved along any extremal? iii) How to assure that the set of extremals include the minimizers predicted by the existence theory? These questions are connected to: i) the Caratheodory method which establishes a correspondence between the minimizing curves of equivalent problems; ii) the interplay between the concept of invariance and the theory of optimality conditions in optimal control, which are the concern of the theorems of Noether; iii) regularity conditions for the minimizers and the work pioneered by Tonelli.Comment: 24 pages, Submitted for publication in a Special Issue of the J. of Mathematical Science

Gauge Symmetries and Noether Currents in Optimal Control

We extend the second Noether theorem to optimal control problems which are invariant under symmetries depending upon k arbitrary functions of the independent variable and their derivatives up to some order m. As far as we consider a semi-invariance notion, and the transformation group may also depend on the control variables, the result is new even in the classical context of the calculus of variations.Comment: Partially presented at the 5th Portuguese Conference on Automatic Control (Controlo 2002), Aveiro, Portugal, September 5-7, 2002. Accepted for publication in Applied Mathematics E-Notes, Volume 3. See http://www.mat.ua.pt/delfim for other work

Fractional Noether's Theorem with Classical and Riemann-Liouville Derivatives

We prove a Noether type symmetry theorem to fractional problems of the calculus of variations with classical and Riemann-Liouville derivatives. As result, we obtain constants of motion (in the classical sense) that are valid along the mixed classical/fractional Euler-Lagrange extremals. Both Lagrangian and Hamiltonian versions of the Noether theorem are obtained. Finally, we extend our Noether's theorem to more general problems of optimal control with classical and Riemann-Liouville derivatives.Comment: This is a preprint of a paper whose final and definite form will be published in: 51st IEEE Conference on Decision and Control, December 10-13, 2012, Maui, Hawaii, USA. Article Source/Identifier: PLZ-CDC12.1832.45c07804. Submitted 08-March-2012; accepted 17-July-2012. arXiv admin note: text overlap with arXiv:1001.450