Related papers: Geometry of Control-Affine Systems
Motivated by the ubiquity of control-affine systems in optimal control theory, we investigate the geometry of point-affine control systems with metric structures in dimensions two and three. We compute local isometric invariants for…
This paper considers the problem of controlled invariance of involutive regular distribution, both for smooth and real analytic cases. After a review of some existing work, a precise formulation of the problem of local and global controlled…
Given an affine control system $\dot{\mathbf x} = f({\mathbf x}) + \sum_{j=1}^m g_j({\mathbf x}) u_j$ we present an algorithmic process of construction of submanifolds that are invariant under controls assuming that the linear span of $f,…
Given a finite field $\mathbb{F}_{q}$, we study the distribution of the number of $\mathbb{F}_{q}$-points on (possibly singular) affine curves given by the polynomial equations of the form $C_{f} : y^{m} = f(x)$, where $f$ is randomly…
We study over a number field, the iterates of automorphisms of the affine space. More precisely, we are interested in the periodic and non-periodic points; for the former the questions are similar to the ones about torsion points on abelian…
We demonstrate how the novel approach to the local geometry of structures of nonholonomic nature, originated by Andrei Agrachev, works in the following two situations: rank 2 distributions of maximal class in R^n with non-zero generalized…
This paper presents an interior point method for pure-state and mixed-constrained optimal control problems for dynamics, mixed constraints, and cost function all affine in the control variable. This method relies on resolving a sequence of…
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…
For homogeneous bilinear control systems, the control sets are characterized using a Lie algebra rank condition for the induced systems on projective space. This is based on a classical Diophantine approximation result. For affine control…
In this letter, we discuss the problem of optimal control for affine systems in the context of data-driven linear programming. First, we introduce a unified framework for the fixed point characterization of the value function, Q-function…
A generalized semitoric system F:=(J,H): M --> R^2 on a symplectic 4-manifold is an integrable system whose essential properties are that F is a proper map, its set of regular values is connected, J generates an S^1-action and is not…
The paper is devoted to the local classification of generic control-affine systems on an n-dimensional manifold with scalar input for any n>3 or with two inputs for n=4 and n=5, up to state-feedback transformations, preserving the affine…
This paper studies (single-time and multitime) optimal control problems on a nonholonomic manifold (described either by the kernel of a Gibbs-Pfaff form or by the span of appropriate vector fields). For both descriptions we analyse:…
The note focuses on the differential geometric approach to the study of nonlinear systems that are affine in control. We first develop normal forms for nonlinear system affine in control. Based on these normal forms, we then address the…
In this paper, we present a novel affine-invariant feature based on SIFT, leveraging the regular appearance of man-made objects. The feature achieves full affine invariance without needing to simulate over affine parameter space. Low-rank…
Let $T>0$ fixed. We consider the optimal control problem for analytic affine systems: $\ds{\dot{x}=f\_0(x)+\sum\_{i=1}^m u\_if\_i(x)}$, with a cost of the form: $\ds{C(u)=\int\_0^T \sum\_{i=1}^m u\_i^2(t)dt}$. For this kind of systems we…
The paper presents new sufficient conditions for the property of strong bi-metric regularity of the optimality map associated with an optimal control problem which is affine with respect to the control variable ({\em affine problem}). The…
An affine invariant point on the class of convex bodies in R^n, endowed with the Hausdorff metric, is a continuous map p which is invariant under one-to-one affine transformations A on R^n, that is, p(A(K))=A(p(K)). We define here the new…
Modern data-driven control applications call for flexible nonlinear models that are amenable to principled controller synthesis and realtime feedback. Many nonlinear dynamical systems of interest are control affine. We propose two novel…
We investigate necessary and sufficient conditions under which a general nonlinear affine control system with outputs can be written as a gradient control system corresponding to some pseudo-Riemannian metric defined on the state space. The…