Symmetric Reduction of Regular Controlled Lagrangian System with Momentum Map

TL;DR

This paper develops a comprehensive reduction theory for regular controlled Lagrangian systems with symmetry and momentum maps, extending classical reduction methods to include control aspects and providing a unified framework.

Contribution

It introduces a new reduction framework for RCL systems on tangent bundles and symplectic fiber bundles, incorporating control and symmetry, with proven reduction theorems and equivalence relations.

Findings

Established regular point and orbit reduction theorems for RCL systems.

Unified description of RCL systems on tangent bundles and reduced spaces.

Clarified relationships between various RCL and Lagrangian system equivalences.

Abstract

In this paper, following the ideas in Marsden et al.[18], we set up the regular reduction theory of a regular controlled Lagrangian (RCL) system with symmetry and momentum map, by using Legendre transformation and Euler-Lagrange vector field, and this reduction is an extension of symmetric reduction theory of a regular Lagrangian system under regular controlled Lagrangian equivalence conditions. Considering the completeness of reduction, in order to describe uniformly the RCL systems defined on a tangent bundle and on its regular reduced spaces, we first define a kind of RCL systems on a symplectic fiber bundle. Then we give a good expression of the dynamical vector field of the RCL system, such that we can describe the RCL-equivalence for the RCL systems. Moreover, we introduce regular point and regular orbit reducible RCL systems with symmetries and momentum maps, by using the reduced Lagrange symplectic forms and the reduced Euler-Lagrange vector fields, and prove the regular point and regular orbit reduction theorems for the RCL systems and regular Lagrangian systems, which explain the relationships between RpCL-equivalence, RoCL-equivalence for the reducible RCL systems with symmetries and RCL-equivalence for the associated reduced RCL systems, as well as the relationship of equivalences of the regular reducible Lagrangian systems, $R_p$-reduced Lagrangian systems and $R_o$-reduced Lagrangian systems.