Related papers: Left-invariant optimal control problems on Lie gro…
In this work we investigate solvable and nilpotent Lie groups with special metrics. The metrics of interest are left-invariant Einstein and algebraic Ricci soliton metrics. Our main result shows that the existence of a such a metric is…
In this article studies questions about the existence of left-invariant K\"{a}hler and semi-para-K\"{a}hler structures on six-dimensional unsolvable Lie groups whose Lie algebras are semidirect products. According to the classification…
Adaptive tracking control for rigid body dynamics is of critical importance in control and robotics, particularly for addressing uncertainties or variations in system model parameters. However, most existing adaptive control methods are…
A general backward stochastic linear-quadratic optimal control problem is studied, in which both the state equation and the cost functional contain the nonhomogeneous terms. The main feature of the problem is that the weighting matrices in…
This paper develops numerical methods for optimal control of mechanical systems in the Lagrangian setting. It extends the theory of discrete mechanics to enable the solutions of optimal control problems through the discretization of…
This paper explores the role of symmetries and reduction in nonlinear control and optimal control systems. The focus of the paper is to give a geometric framework of symmetry reduction of optimal control systems as well as to show how to…
We study the existence of left-invariant harmonic spinors on three-dimensional Lie groups equipped with a left-invariant pseudo-Riemannian metric. An existing formula for the spin Dirac operator acting on left-invariant spinors in the…
Trajectory tracking for the kinematic unicycle has been heavily studied for several decades. The unicycle admits a natural $\SE(2)$ symmetry, a key structure exploited in many of the most successful nonlinear controllers in the literature.…
Consider a convex function that is invariant under an group of transformations. If it has a minimizer, does it also have an invariant minimizer? Variants of this problem appear in nonparametric statistics and in a number of adjacent fields.…
In this survey, we discuss a series of linearization problems--for Poisson structures, Lie algebroids, and Lie groupoids. The last problem involves a conjecture on the structure of proper groupoids. Attempting to prove this by the method of…
This paper studies the reduction by symmetry of a variational obstacle avoidance problem. We derive the reduced necessary conditions in the case of Lie groups endowed with a left-invariant metric, and for its corresponding Riemannian…
The maximum hands-off control is the optimal solution to the L0 optimal control problem. It has the minimum support length among all feasible control inputs. To avoid computational difficulties arising from its combinatorial nature, the…
We study the space of Lie algebras equipped with left-invariant complex structures, $\mathcal{L}_{ J_{\tiny{\mbox{cn}}} }(\mathbb{R}^{2n}) $, with particular attention to their degenerations and deformations. To this end, we identify…
In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
Linear systems on Lie groups are a natural generalization of linear system on Euclidian spaces. For such systems, this paper studies the properties of the maximal sets of approximate controllability.
Handling orientations of robots and objects is a crucial aspect of many applications. Yet, ever so often, there is a lack of mathematical correctness when dealing with orientations, especially in learning pipelines involving, for example,…
We consider Lie groups equipped with arbitrary distances. We only assume that the distance is left-invariant and induces the manifold topology. For brevity, we call such object metric Lie groups. Apart from Riemannian Lie groups,…
We discuss the use of Dirac structures to obtain a better understanding of the geometry of a class of optimal control problems and their reduction by symmetries. In particular we will show how to extend the reduction of Dirac structures…
This paper is concerned with a backward stochastic linear-quadratic (LQ, for short) optimal control problem with deterministic coefficients. The weighting matrices are allowed to be indefinite, and cross-product terms in the control and…
We study left invariant contact forms and left invariant symplectic forms on Lie groups. We give the classification of all symplectic structures on nilpotent Lie algebras up the dimension 6.