Related papers: Note on geometric algebras and control problems wi…
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…
The symmetries described by Pin groups are the result of combining a finite number of discrete reflections in (hyper)planes. The current work shows how an analysis using geometric algebra provides a picture complementary to that of the…
This survey article deals with applications of optimal control to aerospace problems with a focus on modern geometric optimal control tools and numerical continuation techniques. Geometric optimal control is a theory combining optimal…
This paper studies symmetric constrained linear-quadratic optimal control problems and their parametric solutions. The parametric solution of such a problem is a piecewise-affine feedback law that can be equivalently expressed as a set of…
In this paper we study geodesics of left-invariant sub-Riemannian metrics on SO(3) and almost-Riemannian metrics on $S^2$. These structures are connected with each other, and it is possible to use information about one of them to obtain…
We develop a geometric version of the inverse problem of the calculus of variations for discrete mechanics and constrained discrete mechanics. The geometric approach consists of using suitable Lagrangian and isotropic submanifolds. We also…
In this paper, we address the problem of attitude synchronization for a group of rigid body systems evolving on SO(3). The interaction among these systems is modeled through an undirected, connected, and acyclic graph topology. First, we…
We consider a series of optimal control problems with 2-dimensional control lying in an arbitrary convex compact set $\Omega$. The considered problems are well studied for the case when $\Omega$ is a unit disc, but barely studied for…
Diffeomorphisms and an internal symmetry (e.g., local Lorentz invariance) are typically regarded as the symmetries of any geometrical gravity theory, including general relativity. In the first-order formalism, diffeomorphisms can be thought…
Symplectic integration of autonomous Hamiltonian systems is a well-known field of study in geometric numerical integration, but for non-autonomous systems the situation is less clear, since symplectic structure requires an even number of…
We consider linear differential-algebraic equations DAEs and the Kronecker canonical form KCF of the corresponding matrix pencils. We also consider linear control systems and their Morse canonical form MCF. For a linear DAE, a procedure…
An analogue of geometric quantization of Poisson algebras obtained by algebraic reduction of symmetries is developed. Interpretation of the obtained results and their application to the problem of commutativity of quantization and reduction…
We describe geometrically the classical and quantum inhomogeneous groups $G_0=(SL(2, \BbbC)\triangleright \BbbC^2)$ and $G_1=(SL(2, \BbbC)\triangleright \BbbC^2)\triangleright \BbbC$ by studying explicitly their shape algebras as a spaces…
An iterative learning algorithm is presented for continuous-time linear-quadratic optimal control problems where the system is externally symmetric with unknown dynamics. Both finite-horizon and infinite-horizon problems are considered. It…
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…
Symmetries of nonlinear control systems in state representation are considered. To this end, a geometric approach to ordinary differential equations is advocated. Invariant feedback laws for systems with Lie symmetries, i.e. feedback laws…
Many combinatorial problems can be formulated as a polynomial optimization problem that can be solved by state-of-the-art methods in real algebraic geometry. In this paper we explain many important methods from real algebraic geometry, we…
We survey both old and new developments in the theory of algorithms in real algebraic geometry -- starting from effective quantifier elimination in the first order theory of reals due to Tarski and Seidenberg, to more recent algorithms for…
Symmetry properties of the evolution equation and the state to be controlled are shown to determine the basic features of the linear control of unstable orbits. In particular, the selection of control parameters and their minimal number are…
We address the problem of characterisation of null-forms of conic $3$-dimensional systems, that is, control-affine systems whose field of admissible velocities forms a conic (without parameters) in the tangent space. Those systems have been…