Related papers: Invariant submanifolds for affine control systems
In this paper, we present a geometric approach for computing controlled invariant sets for hybrid control systems. While the problem is well studied in the ellipsoidal case, this family is quite conservative for constrained or switched…
Recent results in control systems and numerical integration literature utilize invariant set theory to lift dynamical systems evolving on nonlinear manifolds to those evolving on vector spaces. We leverage this technique to propose an…
A Pfaff field on a projective space is a map from the sheaf of differential s-forms, for a certain s, to an invertible sheaf. The interesting ones are those arising from a Pfaff system, as they give rise to a distribution away from their…
Let $\mathcal{S}$ be an integrable Pfaffian system. If it is invariant under a transversally free infinitesimal action of a finite dimensional real Lie algebra $g$ and consequently invariant under the local action of a Lie group $G$, we…
In this article we consider the action of affine group and time rescaling on planar quadratic differential systems. We construct a system of representatives of the orbits of systems with at least five invariant lines, including the line at…
We exhibit an algorithm to compute the strongest algebraic (or polynomial) invariants that hold at each location of a given unguarded linear hybrid automaton (i.e., a hybrid automaton having only unguarded transitions, all of whose…
In this paper, we present a geometric approach for computing the controlled invariant set of a continuous-time control system. While the problem is well studied for in the ellipsoidal case, this family is quite conservative for constrained…
We study formation control problems. Our approach is to let a group of systems maximize their pairwise distances whilst bringing them all to a given submanifold, determining the shape of the formation. The algorithm we propose allows to…
The aim of this paper is fourfold. Firstly, we introduce and study the f-ultra-harmonic maps. Secondly, we recall the geometric dynamics generated by a first order normal PDE system and we give original results regarding the geometric…
Hypersemitoric systems are a class of integrable systems on $4$-dimensional symplectic manifolds which only have mildly degenerate singularities and where one of the integrals induces an effective Hamiltonian $S^1$-action and is proper. We…
Among the various critical systems that worth to be formally analyzed, a wide set consists of controllers for dynamical systems. Those programs typically execute an infinite loop in which simple com putations update internal states and…
Invariant manifolds are important sets arising in the stability theory of dynamical systems. In this article, we take a brief review of invariant sets. We provide some results regarding the existence of invariant lines and parabolas in…
Very high dimensional nonlinear systems arise in many engineering problems due to semi-discretization of the governing partial differential equations, e.g. through finite element methods. The complexity of these systems present…
Let $\mathbf{K}$ be a field and $\phi$, $\mathbf{f} = (f_1, \ldots, f_s)$ in $\mathbf{K}[x_1, \dots, x_n]$ be multivariate polynomials (with $s < n$) invariant under the action of $\mathcal{S}_n$, the group of permutations of $\{1, \dots,…
In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the…
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…
In the comparison of nonholonomic mechanics and constrained variational mechanics, invariant affine subbundles arise in the determination of the initial conditions where the two methods yield the same trajectories. Motivated by this,…
We exhibit an algorithm to compute the strongest polynomial (or algebraic) invariants that hold at each location of a given affine program (i.e., a program having only non-deterministic (as opposed to conditional) branching and all of whose…
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…
Affine flows on vector bundles with chain transitive base flow are lifted to linear flows and the decomposition into exponentially separated subbundles provided by Selgrade's theorem is determined. The results are illustrated by an…