Related papers: Extremals on Lie groups with asymmetric polyhedral…
Left invariant metrics induced by the p-norms of the trace in the matrix algebra are studied on the general lineal group. By means of the Euler-Lagrange equations, existence and uniqueness of extremal paths for the length functional are…
We show that a Lie group $G$ admitting a bi-invariant distance must be the product $G=H\times K$ of an abelian group $H$ and a compact group $K$ with discrete center. Moreover, the distance in $G$ must come from the infima of lengths of…
In this work, we consider optimal control problems for mechanical systems on vector spaces with fixed initial and free final state and a quadratic Lagrange term. Specifically, the dynamics is described by a second order ODE containing an…
We consider left-invariant optimal control problems on connected Lie groups such that generic stabilizer of the coadjoint action is connected and has dimension not more than 1. We introduce a construction for symmetries of the exponential…
We study the variational problem for $N$-parallel curves on a Finslerian surface by means of Exterior Differential Systems using Griffiths' method. We obtain the conditions when these curves are extremals of a length functional and write…
The coadjoint orbits of compact Lie groups each carry a canonical (positive definite) K\"ahler structure, famously used to realize the group's irreducible representations in holomorphic sections of appropriate line bundles (Borel-Weil…
In this article we derive a Pontryagin maximum principle (PMP) for discrete-time optimal control problems on matrix Lie groups. The PMP provides first order necessary conditions for optimality; these necessary conditions typically yield two…
On a cotangent bundle $T\sp*G$ of a Lie group $G$ one can describe the standard Liouville form $\theta$ and the symplectic form $d \theta$ in terms of the right Maurer Cartan form and the left moment mapping (of the right action of $G$ on…
We find three-dimensional subspaces of four-dimensional connected Lie algebras, generating these algebras, and abnormal extremals on connected Lie groups with these Lie algebras and with left-invariant sub-Finsler quasimetrics defined by…
This article considers a discrete-time robust optimal control problem on matrix Lie groups. The underlying system is assumed to be perturbed by exogenous unmeasured bounded disturbances, and the control problem is posed as a min-max optimal…
We consider control-linear left-invariant time-optimal problems on step 2 Carnot groups with strictly convex set of control parameters (in particular, sub-Finsler problems). We describe all linear-in-momenta Casimirs on the dual of the Lie…
In this paper we study a sub-Finsler geometric problem on the free-nilpotent group of rank 2 and step 3. Such a group is also called Cartan group and has a natural structure of Carnot group, which we metrize considering the $\ell_\infty$…
In this article we present a geometric discrete-time Pontryagin maximum principle (PMP) on matrix Lie groups that incorporates frequency constraints on the controls in addition to pointwise constraints on the states and control actions…
Since the second half of the 20th century, Pontryagin's Maximum Principle has been widely discussed and used as a method to solve optimal control problems in medicine, robotics, finance, engineering, astronomy. Here, we focus on the proof…
We extend the Pontryagin Maximum Principle (PMP) to the geometric setting of almost-Lie (AL) algebroids -- objects which generalize Lie algebroids. The result may be understood as a very general reduction scheme for optimal control problems…
An extremal element $x$ in a Lie algebra $\mathfrak{g}$ is an element for which the space $[x, [x, \mathfrak{g}]]$ is contained in the linear span of $x$. Long root elements in classical Lie algebras are examples of extremal elements. Lie…
We obtain a method to compute effective first integrals by combining Noether's principle with the Kozlov-Kolesnikov integrability theorem. A sufficient condition for the integrability by quadratures of optimal control problems with controls…
Left-invariant optimal control problems on Lie groups form an important class of problems with big symmetry group. They are interesting from the theoretical point of view since they often can be completely studied, and general features can…
Abnormal extremals on four-dimensional connected Lie groups with left-invariant sub-Finsler quasimetric, defined by a seminorm on a two-dimensional subspace of the Lie algebra generating the algebra, are found. In terms of structure…
The fundamental theorem of the theory of optimal control, the Pontryagin maximum principle (PMP), is extended to the setting of almost Lie (AL) algebroids, geometrical objects generalizing Lie algebroids. This formulation of the PMP yields,…