Integrating Hamiltonian systems defined on the Lie groups SO(4) and SO(1,3)
Biggs, J. and Holderbaum, W. (2007) Integrating Hamiltonian systems defined on the Lie groups SO(4) and SO(1,3). In: 45th European Control Conference (ECC 2007) , Kos, Greece.
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This paper examines optimal solutions of control systems with drift defined on the orthonormal frame bundle of particular Riemannian manifolds of constant curvature. The manifolds considered here are the space forms Euclidean space E³, the spheres S³ and the hyperboloids H³ with the corresponding frame bundles equal to the Euclidean group of motions SE(3), the rotation group SO(4) and the Lorentz group SO(1,3). The optimal controls of these systems are solved explicitly in terms of elliptic functions. In this paper, a geometric interpretation of the extremal solutions is given with particular emphasis to a singularity in the explicit solutions. Using a reduced form of the Casimir functions the geometry of these solutions is illustrated.