Poisson Hamiltonian Pontryagin Dynamics and Optimal Control of Mechanical Systems on Lie Groupoids
This paper establishes a Poisson Hamiltonian formulation for the optimal control of mechanical systems on Lie groupoids, demonstrating that symplectic leaves of the dual Lie algebroid serve as the natural reduced phase spaces and proving the equivalence between variational and Poisson Hamiltonian approaches under regularity conditions.