Classical counterparts of shortcuts to adiabaticity in nonlinear dissipative Lagrangian systems

Shortcuts to adiabaticity (STA) were first developed in quantum dynamics to realize rapid transformations with suppressed residual excitations. Here we show how the same idea can be implemented in classical nonlinear dissipative Lagrangian systems. Using a coupled r-$θ$ manipulator as an illustrative model, we perform inverse engineering on the Euler-Lagrange equations with Rayleigh dissipation by prescribing endpoint-stationary trajectories, obtaining the corresponding force and torque profiles and quantifying how geometric coupling amplifies errors and residual energy. We further compare smooth STA protocols with actuator-bounded time-optimal solutions and with proportional-integral-derivative tracking, which highlights a trade-off among smoothness, speed, and robustness. Finally, we introduce a single-shot correction based on one mid-course measurement to reduce the effect of early deviations while keeping the inputs nearly smooth. These results provide a practical bridge between quantum STA concepts and their classical counterparts.