Related papers: Rolling against a sphere: The non transitive case

This paper considers control systems defined on Lie algebroids. After deriving basic controllability tests for general control systems, we specialize our discussion to the class of mechanical control systems on Lie algebroids. This class of…

For every integer $g \,\geq\, 2$ we show the existence of a compact Riemann surface $\Sigma$ of genus $g$ such that the rank two trivial holomorphic vector bundle ${\mathcal O}^{\oplus 2}_{\Sigma}$ admits holomorphic connections with…

We construct a bi-Hamiltonian structure for the holomorphic spin Sutherland hierarchy based on collective spin variables. The construction relies on Poisson reduction of a bi-Hamiltonian structure on the holomorphic cotangent bundle of…

Let H denote the 3-dimensional Heisenberg Lie group. The present paper classify all possible linear control systems on the homogeneous spaces of H through its closed subgroups and expose a detailed study on the control behavior…

We prove the existence of many non-trivial characteristic classes of smooth oriented bundles with fibre a product $ S^{n}\times S^{n} $ of odd-dimensional spheres. We do so by proving injectivity of the map from the ring of rational…

A Riemannian metric on a manifold M induces a family of Riemannian metrics on the loop space LM depending on a Sobolev space parameter s. The connection and curvature forms of these metrics take values in pseudodifferential operators. We…

We give a geometric account of kinematic control of a spherical rolling robot controlled by two internal wheels just like the toy robot Sphero. Particularly, we introduce the notion of shape space and fibers to the system by exploiting its…

A contact metric manifold is said to be $H$-contact, if the characteristic vector field is harmonic. We prove that the unit tangent bundle of a Riemannian manifold $M$ equipped with the standard contact metric structure is $H$-contact if…

We consider a family E_m(D,M) of holomorphic bundles constructed as follows: to any given M in GL_n(Z), we associate a "multiplicative automorphism" f of (C*)^n. Now let D be a f-invariant Stein Reinhardt domain in (C*)^n. Then E_m(D,M) is…

In this work, we show that an autonomous dynamical system defined by a nonvanishing vector field on an orientable three-dimensional manifold is globally bi-Hamiltonian if and only if the first Chern class of the normal bundle of the given…

Fix a point $t_0$ in the circle $S^1$. The space $J^k(t_0, \mathbb{P}^1)$ of $k$-jets at $t_0$ of $C^{\infty}$ maps from $S^1$ to the Riemann sphere $\mathbb{P}^1$ is a $k+1$ dimensional complex algebraic manifold. We identify a class of…

We will study a linear first order system, a connection $\db$ problem, on a vector bundle equipped with a connection, over a Riemann surface. We show optimal conditions on the connection forms which allow one to find a holomorphic frame, or…

We investigate the analog of holomorphic vector bundles in the context of Sasakian manifolds.

A manifold $M$ is said to be a double disk bundle if it can be decomposed as a union of two disk bundles glued together by a diffeomorphism of their boundaries. We show that if $M^n$ is a closed simply connected $n$-manifold with $n$ even…

We analyse the motion of a sphere that rolls without slipping on a conical surface having its axis in the direction of the constant gravitational field of the Earth. This nonholonomic system admits a solution in terms of quadratures. We…

Attitude control systems naturally evolve on nonlinear configuration spaces, such as S^2 and SO(3). The nontrivial topological properties of these configuration spaces result in interesting and complicated nonlinear dynamics when studying…

We consider Hamiltonian systems in first-order multisymplectic field theories. We review the properties of Hamiltonian systems in the so-called restricted multimomentum bundle, including the variational principle which leads to the…

The invariant classification of superintegrable systems is reviewed and utilized to construct singular limits between the systems. It is shown, by construction, that all superintegrable systems on conformally flat, 3D complex Riemannian…

Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…

The reachable set for a finite dimensional quantum system is shown to be the orbit of the group corresponding to the internal and control Hamiltonians, even if this group is not compact.