Related papers: Control of mechanical systems on Lie groups and id…
This paper presents a generalization of conventional sliding mode control designs for systems in Euclidean spaces to fully actuated simple mechanical systems whose configuration space is a Lie group for the trajectory-tracking problem. A…
Left-invariant optimal control problems on Lie groups form an important class of problems with big symmetry group. They are interesting from the theoretical point of view since they often can be completely studied, and general features can…
The theory of controlled mechanical systems of [6, 3, 4] is extended to the case of ideal incompressible fluids consisting of charged particles in the presence of an external magnetic field. The resulting control is of feedback type and…
Lagrangian reduction by stages is used to derive the Euler-Poincar\'e equations for the nondissipative coupled motion and micromotion of complex fluids. We mainly treat perfect complex fluids (PCFs) whose order parameters are continuous…
Recent theoretical work has developed the Hamilton's-principle analog of Lie-Poisson Hamiltonian systems defined on semidirect products. The main theoretical results are twofold: (1) Euler-Poincar\'e equations (the Lagrangian analog of…
Stochastic geometric mechanics (SGM) is known for its potential utility in quantifying uncertainty in global climate modelling of the Earth's ocean and atmosphere while also preserving the fundamental advective transport properties of ideal…
Recall that a vector field on an n-dimensional differentiable manifold M is a mapping X defined on M with values in the tangent bundle TM that assigns to each point $x\in M$ a vector X(x) in the tangent space $T_x M$. A vector field may be…
Vortex line and magnetic line representations are introduced for description of flows in ideal hydrodynamics and MHD, respectively. For incompressible fluids it is shown that the equations of motion for vorticity ${\bf \Omega}$ and magnetic…
It is known that the Eulerian and Lagrangian structures of fluid flow can be drastically different; for example, ideal fluid flow can have a trivial (static) Eulerian structure, while displaying chaotic streamlines. Here we show that ideal…
Soon after the Yang-Mills work, the gauge invariance became one of the basic principles in the elementary particles theory. The gauge invariance idea is that Lagrangian has to be invariant not only with respect to the coordinates…
We investigate symmetry reduction of optimal control problems for left-invariant control systems on Lie groups, with partial symmetry breaking cost functions. Our approach emphasizes the role of variational principles and considers a…
Arnold showed that the Euler equations of an ideal fluid describe geodesics in the Lie algebra of incompressible vector fields. We will show that helicity induces a splitting of the Lie algebra into two isotropic subspaces, forming a Manin…
We describe a variational framework for non-commuting flows, extending the theories of Lagrangian multiforms and pluri-Lagrangian systems, which have gained prominence in recent years as a variational description of integrable systems in…
This paper analyzes the optimal control problem of cubic polynomials on compact Lie groups from a Hamiltonian point of view and its symmetries. The dynamics of the problem is described by a presymplectic formalism associated with the…
Optimal control is ubiquitous in many fields of engineering. A common technique to find candidate solutions is via Pontryagin's maximum principle. An unfortunate aspect of this method is that the dimension of system doubles. When the system…
The usefulness in control theory of the geometric theory of motion on Lie groups and homogeneous spaces will be shown. We quickly review some recent results concerning two methods to deal with these systems, namely, a generalization of the…
The motion of an incompressible fluid in Lagrangian coordinates involves infinitely many symmetries generated by the left Lie algebra of group of volume preserving diffeomorphisms of the three dimensional domain occupied by the fluid.…
In this survey, we present a geometric description of Lagrangian and Hamiltonian Mechanics on Lie algebroids. The flexibility of the Lie algebroid formalism allows us to analyze systems subject to nonholonomic constraints, mechanical…
This paper is devoted to the geometric analysis of the incompressible averaged Euler equations on compact Riemannian manifolds with boundary. The equation also coincides with the model for a second-grade non-Newtonian fluid. We study the…
This paper formulates an optimal control problem for a system of rigid bodies that are connected by ball joints and immersed in an irrotational and incompressible fluid. The rigid bodies can translate and rotate in three-dimensional space,…