Related papers: Control of mechanical systems on Lie groups and id…

Discrete control systems, as considered here, refer to the control theory of discrete-time Lagrangian or Hamiltonian systems. These discrete-time models are based on a discrete variational principle, and are part of the broader field of…

We develop a general approach to study geometric flows on homogeneous spaces. Our main tool will be a dynamical system defined on the variety of Lie algebras called the bracket flow, which coincides with the original geometric flow after a…

We consider the incompressible three-dimensional Euler equations for a vortex ring with Kelvin waves undergoing radially expanding Lagrangian transport. To clarify the fundamental mechanisms underlying nonlinear scale-local deformations of…

Actions of Lie groups on presymplectic manifolds are analyzed, introducing the suitable comomentum and momentum maps. The subsequent theory of reduction of presymplectic dynamical systems with symmetry is studied. In this way, we give a…

In this paper we will discuss some new developments in the design of numerical methods for optimal control problems of Lagrangian systems on Lie groups. We will construct these geometric integrators using discrete variational calculus on…

A general scheme of construction and analysis of physical fields on the various homogeneous spaces of the Poincar\'{e} group is presented. Different parametrizations of the field functions and harmonic analysis on the homogeneous spaces are…

For a discrete mechanical system on a Lie group $G$ determined by a (reduced) Lagrangian $\ell$ we define a Poisson structure via the pull-back of the Lie-Poisson structure on the dual of the Lie algebra ${\mathfrak g}^*$ by the…

The following principle of minimum energy may be a powerful substitute to the dynamical perturbation method, when the latter is hard to apply. Fluid elements of self-gravitating barotropic flows, whose vortex lines extend to the boundary of…

Steady fluid flows have very special topology. In this paper we describe necessary and sufficient conditions on the vorticity function of a 2D ideal flow on a surface with or without boundary, for which there exists a steady flow among…

Local structures, beyond the well-known `frozen-in' to the barotropic flows of the generalized vorticities, of the two-fluid model of plasma flows are presented. More general non-barotropic situations are also considered. A modified Euler…

Let (N,g) be a nilpotent Lie group endowed with an invariant geometric structure (cf. symplectic, complex, hypercomplex or any of their `almost' versions). We define a left invariant Riemannian metric on N compatible with g to be minimal,…

Matrix Lie groups are an important class of manifolds commonly used in control and robotics, and optimizing control policies on these manifolds is a fundamental problem. In this work, we propose a novel computationally efficient approach…

The kinematics of a robot manipulator are described in terms of the mapping connecting its joint space and the 6-dimensional Euclidean group of motions $SE(3)$. The associated Jacobian matrices map into its Lie algebra $\mathfrak{se}(3)$,…

In this paper, following the ideas in Marsden et al.[18], we set up the regular reduction theory of a regular controlled Lagrangian (RCL) system with symmetry and momentum map, by using Legendre transformation and Euler-Lagrange vector…

This paper develops the theory of Dirac reduction by symmetry for nonholonomic systems on Lie groups with broken symmetry. The reduction is carried out for the Dirac structures, as well as for the associated Lagrange-Dirac and…

We consider nonholonomic geodesic flows of left-invariant metrics and left-invariant nonintegrable distributions on compact connected Lie groups. The equations of geodesic flows are reduced to the Euler-Poincare-Suslov equations on the…

We describe a new method to formulate classical Lagrangian mechanics on a finite-dimensional Lie group. This new approach is much more pedagogical than many previous treatments of the subject, and it directly introduces students to…

We establish a result concerning the so-called Lagrangian controllability of the Euler equation for incompressible perfect fluids in dimension 3. More precisely we consider a connected bounded domain of R^3 and two smooth contractible sets…

Bilinear systems emerge in a wide variety of fields as natural models for dynamical systems ranging from robotics to quantum dots. Analyzing controllability of such systems is of fundamental and practical importance, for example, for the…

This work presents a group-theoretic interpretation of the historical evolution of mechanics, proposing that each fundamental theory of motion corresponds to a distinct geometry in the sense of Felix Klein. The character of each geometry is…