Related papers: Introduction to geometric control
In this tutorial, we detailed simple controllers for autonomous parking and path following for self-driving cars providing practical methods for curvature computation.
In this paper we give a new formulation of an abstract control problem in terms of a Grushin problem, so that we will reformulate all notions of controllability, observability and stability in a new form that gives readers an easy…
Physics in curved spacetime describes a multitude of phenomena, ranging from astrophysics to high energy physics. The last few years have witnessed further progress on several fronts, including the accurate numerical evolution of the…
Four pedagogical Lectures at the NATO-ASI on "Quantum Geometry" in Akureyri, Iceland, August 1999. Contents: 1. O(N) Vector Models, 2. Large-N QCD, 3. QCD in Loop Space, 4. Large-N Reduction
These lecture notes are meant to serve as an introduction to some geometric constructions and techniques (in particular the ones of toric geometry) often employed by the physicist working on string theory compactifications. The emphasis is…
This is a revised version of the notes from the week-long course I gave at the Centre de Recerca Matematica, Barcelona, in September of 2010. The aim is to give a working overview of recent methods and results in "Blaschkean integral…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
Recently delivered lectures on Self-Referential Mathematics, [2], at the Department of Mathematics and Applied Mathematics, University of Pretoria, are briefly presented. Comments follow on the subject, as well as on Inconsistent…
Brief lecture notes for a course about random matrices given at the University of Cambridge.
Lecture notes delivered in Barcellona in the fall of 2003
Some simple examples from quantum physics and control theory are used to illustrate the application of the theory of Lie systems. We will show, in particular, that for certain physical models both of the corresponding classical and quantum…
Based on lectures delivered at (1) the AMS meeting at USC, Nov. 1992 (2) Conference on Quantum Aspects of Black Holes, ITP, UC- Santa %Barbara, %%June 1993. (3) 25th Summer Institute, Ecole Normale Superieure, % Paris, Aug. 1992. To appear…
Expanded lecture notes. Preliminary version, comments are welcome.
This technical note aims to introduce geometric controllers to roboticists for aligning \emph{3D robots} with non-constant 3D vector fields. This alignment entails the control of the robot's 3D attitude. We derive with excessive detail all…
An architectural framework for implementing a distributed observatory control system is presented here. It has been partially realized and tested in the 2m optical and infrared Observatory at Pune, India.
Intermittent control has a long history in the physiological literature and there is strong experimental evidence that some human control systems are intermittent. Intermittent control has also appeared in various forms in the engineering…
The following notes derive from review lectures on closed string field theory given at the Galileo Galilei Institute for Theoretical Physics in March 2019.
Stability theory plays a crucial role in feedback control. However, adaptive control theory requires advanced and specialized stability notions that are not frequently used in standard feedback control theory. The present document is a set…
We investigate a class of cyclic evolutions for %the cyclic evolution of driven two-level quantum systems (effective spin-1/2) with a particular focus on the geometric characteristics of the driving and their specific imprints on the…
Submission on request. This Master thesis from 2008 (University of Oslo, Norway) contains no new results, but it provides an overview of plane rational cuspidal curves, in particular curves of low degree. Please note that new results on…