Faulwasser, TimmTimmFaulwasserFlaßkamp, KathrinKathrinFlaßkampOber-Blöbaum, SinaSinaOber-BlöbaumSchaller, ManuelManuelSchallerWorthmann, KarlKarlWorthmann2024-02-142024-02-142022-12Mathematics of Control, Signals, and Systems 34 (4): 759-788 (2022-01)https://hdl.handle.net/11420/45647Classical turnpikes correspond to optimal steady states which are attractors of infinite-horizon optimal control problems. In this paper, motivated by mechanical systems with symmetries, we generalize this concept to manifold turnpikes. Specifically, the necessary optimality conditions projected onto a symmetry-induced manifold coincide with those of a reduced-order problem defined on the manifold under certain conditions. We also propose sufficient conditions for the existence of manifold turnpikes based on a tailored notion of dissipativity with respect to manifolds. Furthermore, we show how the classical Legendre transformation between Euler–Lagrange and Hamilton formalisms can be extended to the adjoint variables. Finally, we draw upon the Kepler problem to illustrate our findings.en0932-419420224759788Springerhttps://creativecommons.org/licenses/by/4.0/DissipativityGeometric controlMotion primitivesOptimal controlSymmetryTurnpikesElectrical Engineering, Electronic EngineeringMathematicsJournal Article10.15480/882.918510.1007/s00498-022-00321-610.15480/882.9185Journal Article