Related papers: A coordinate-free theory of virtual holonomic cons…
We consider an exit-time minimum problem with a running cost, $l\geq 0$ and unbounded controls. The occurrence of points where $l=0$ can be regarded as a transversality loss. Furthermore, since controls range over unbounded sets, the family…
The paper presents necessary and sufficient conditions for the order reduction of optimal control systems. Exploring the corresponding Hamiltonian system allows to solve the order reduction problem in terms of dynamical systems,…
We present a covariant multisymplectic formulation for the Einstein-Palatini (or Metric-Affine) model of General Relativity (without energy-matter sources). As it is described by a first-order affine Lagrangian (in the derivatives of the…
Controlled invariant set and viability regulation of dynamical control systems have played important roles in many control and coordination applications. In this paper we develop a temporal viability regulation theory for general dynamical…
We introduce the concept of a "transitory" dynamical system---one whose time-dependence is confined to a compact interval---and show how to quantify transport between two-dimensional Lagrangian coherent structures for the Hamiltonian case.…
In this work, we develop a control-theoretic framework for constrained optimization problems with composite objective functions including non-differentiable terms. Building on the proximal augmented Lagrangian formulation, we construct a…
We give a new normalization condition for connections on sub-Riemannian manifolds with constant symbols. The condition is formulated in terms of Cartan connections and depends only on the first degree of homogeneity of the curvature. The…
Affine connection control systems are mechanical control systems that model a wide range of real systems such as robotic legs, hovercrafts, planar rigid bodies, rolling pennies, snakeboards and so on. In 1997 the accessibility and a…
A complete analysis of the consequences of introducing a set of holonomic gauge fixing constraints (to fix the dynamics) into a singular Lagrangian is performed. It is shown in general that the dynamical system originated from the reduced…
In this article we develop a theory of contact systems with nonholonomic constraints. We obtain the dynamics from Herglotz's variational principle, by restricting the variations so that they satisfy the nonholonomic constraints. We prove…
Recently, there has been an increasing interest in modelling and computation of physical systems with neural networks. Hamiltonian systems are an elegant and compact formalism in classical mechanics, where the dynamics is fully determined…
The Lagrangian formulation of classical field theories and in particular general relativity leads to a coordinate-free, fully covariant analysis of these constrained systems. This paper applies multisymplectic techniques to obtain the…
Unfortunately, the Hamiltonian mechanics of degenerate Lagrangian systems is usually presented as a mere recipe of Dirac, with no explanation as to how it works. Then it comes to discussing conjectures of whether all primary constraints…
In this paper we investigate a variational discretization for the class of mechanical systems in presence of symmetries described by the action of a Lie group which reduces the phase space to a (non-trivial) principal bundle. By introducing…
In the framework of polysymplectic Hamiltonian formalism, degenerate Lagrangian field systems are described as multi-Hamiltonian systems with Lagrangian constraints. The physically relevant case of degenerate quadratic Lagrangians is…
This paper investigates manipulability of interactive Lagrangian systems with parametric uncertainty and communication/sensing constraints. Two standard examples are teleoperation with a master-slave system and teaching operation of robots.…
We consider learning nonholonomic dynamical systems while discovering the constraints, and describe in detail the case of the rolling disk. A nonholonomic system is a system subject to nonholonomic constraints. Unlike holonomic constraints,…
In this article, we give a condition for the global controllability of affine nonlinear control systems with drifts on Euclidean spaces. Under regularity assumptions, the condition is necessary and sufficient in the codimension-1 and…
The naive application of Reinforcement Learning algorithms to continuous control problems -- such as locomotion and manipulation -- often results in policies which rely on high-amplitude, high-frequency control signals, known colloquially…
We consider a class of monotone systems in which the control signal multiplies the state. Among other applications, such bilinear systems can be used to model the evolutionary dynamics of HIV in the presence of combination drug therapy. For…