Related papers: Steering nonholonomic integrator using orthogonal …
In the context of optimal control, we consider the inverse problem of Lagrangian identification given system dynamics and optimal trajectories. Many of its theoretical and practical aspects are still open. Potential applications are very…
In this paper we study a discrete variational optimal control problem for the rigid body. The cost to be minimized is the external torque applied to move the rigid body from an initial condition to a pre-specified terminal condition.…
The theory of feedback integrators is extended to handle mechanical systems with nonholonomic constraints with or without symmetry, so as to produce numerical integrators that preserve the nonholonomic constraints as well as other conserved…
We give here some negative results in Sturm-Liouville inverse theory, meaning that we cannot approach any of the potentials with $m+1$ integrable derivatives on $\mathbb{R}^+$ by an $\omega$-parametric analytic family better than order of…
We consider the Schr\"odinger equation with a Hamiltonian given by a second order difference operator with nonconstant growing coefficients, on the half one dimensional lattice. This operator appeared first naturally in the construction and…
This paper presents a novel method to synthesize stochastic control Lyapunov functions for a class of nonlinear, stochastic control systems. In this work, the classical nonlinear Hamilton-Jacobi-Bellman partial differential equation is…
We consider the class of control systems where the differential equation, state and control system are described by polynomials. Given a set of trajectories and a class of Lagrangians, we are interested to find a Lagrangian in this class…
The objective of this work is the introduction and investigation of favourable time integration methods for the Gross--Pitaevskii equation with rotation term. Employing a reformulation in rotating Lagrangian coordinates, the equation takes…
This paper presents a method to construct variational integrators for time-dependent lagrangian systems. The resulting algorithms are symplectic, preserve the momentum map associated with a Lie group of symmetries and also describe the…
We present a time-dependent extension of logarithmic perturbation theory for nonrelativistic quantum dynamics governed by the Schr\"odinger equation, in which the logarithm of the wave function is expanded in powers of a coupling constant.…
We deal with regular Lagrangian constrained systems which are invariant under the action of a symmetry group. Fixing a connection on the higher-order principal bundle where the Lagrangian and the (independent) constraints are defined, the…
We present two infinite sequences of polynomial eigenfunctions of a Sturm-Liouville problem. As opposed to the classical orthogonal polynomial systems, these sequences start with a polynomial of degree one. We denote these polynomials as…
In this paper we study a Hamiltonization procedure for mechanical systems with velocity-depending (nonholonomic) constraints. We first rewrite the nonholonomic equations of motion as Euler-Lagrange equations, with a Lagrangian that follows…
We revisit basics of classical Sturm-Liouville theory and, as an application, recover Bochner's classification of second order ODEs with polynomial coefficients and polynomial solutions by a new argument. We also outline how a wider class…
This paper analyzes the nonlinear Small-Time Local Controllability (STLC) of a class of underatuated aerial manipulator robots. We apply methods of Lagrangian reduction to obtain their lowest dimensional equations of motion (EOM). The…
We introduce a novel approach to perform first-order optimization with orthogonal and unitary constraints. This approach is based on a parametrization stemming from Lie group theory through the exponential map. The parametrization…
We prove a generalization of Noether's theorem for optimal control problems defined on time scales. Particularly, our results can be used for discrete-time, quantum, and continuous-time optimal control problems. The generalization involves…
Using optimal control, we establish and link the ultimate bounds in time (referred to as quantum speed limit) and energy of two- and three-level quantum nonlinear systems which feature 1:2 resonance. Despite the unreachable complete…
The first-order optimality conditions for a generic nonlinear optimization problem are generated as part of the terminal transversality conditions of an optimal control problem. It is shown that the Lagrangian of the optimization problem is…
A nonholonomic system is a mechanical system with velocity constraints not originating from position constraints; rolling without slipping is the typical example. A nonholonomic integrator is a numerical method specifically designed for…