Related papers: "Good Lie Brackets" for Control Affine Systems
Derivations extend the concept of differentiation from functions to algebraic structures as linear operators satisfying the Leibniz rule. In Lie algebras, derivations form a Lie algebra via the commutator bracket of linear endomorphisms.…
We show that on a closed smooth manifold $M$ equipped with $k$ fiber bundle structures whose vertical distributions span the tangent bundle, every smooth diffeomorphism $f$ of $M$ sufficiently close to the identity can be written as a…
In this paper, we seek to combine two emerging standpoints in control theory. On the one hand, recent advances in infinite-dimensional geometric control have unlocked a method for controlling (with arbitrary precision and in arbitrarily…
In this article we study control problems with systems that are governed by ordinary differential equations whose vector fields depend linearly in the time derivatives of some components of the control. The remaining components are…
We consider a group of computation units trying to cooperatively solve a distributed optimization problem with shared linear equality and inequality constraints. Assuming that the computation units are communicating over a network whose…
Lie brackets or Lie affgebra structures on several classes of affine spaces of matrices are studied. These include general normalised affine matrices, special normalised affine matrices, anti-symmetric and anti-hermitian normalised affine…
A Lie system is a nonautonomous system of first-order differential equations possessing a superposition rule, i.e. a map expressing its general solution in terms of a generic finite family of particular solutions and some constants.…
We describe a method to analyze and decompose the dynamics of a control system on a Lie group subject to symmetries. The method is based on the concept of generalized Young symmetrizers of representation theory. It naturally applies to the…
We call a finite, spanning set of a semi-simple real Lie algebra a distinguished set if it satisfies the following property: The Lie bracket of any two elements out of the set is, up to some constant, another element in the set; conversely,…
The purpose of this paper is to use the framework of Lie algebroids to study optimal control problems for affine connection control systems on Lie groups. In this context, the equations for critical trajectories of the problem are…
The objective of this paper is to study the controllability of discrete-time linear control systems in solvable Lie groups. In the special case of nilpotent Lie groups, a necessary and sufficient condition for controllability is…
Linear systems on Lie groups are a natural generalization of linear system on Euclidian spaces. For such systems, this paper studies controllability by taking in consideration the eigenvalues of an associated derivation D. When the state…
We introduce a general random model of a combinatorial optimization problem with geometric structure that encapsulates both linear programming and integer linear programming. Let $Q$ be a bounded set called the feasible set, $E$ be an…
Let $\mathfrak{g}$ be an algebra over $K$ with a bilinear operation $[\cdot,\cdot]:\mathfrak{g}\times\mathfrak{g}\rightarrow\mathfrak{g}$ not necessarily associative. For $A\subseteq\mathfrak{g}$, let $A^{k}$ be the set of elements of…
This paper presents a geometric description of Lagrangian and Hamiltonian systems on Lie affgebroids subject to affine nonholonomic constraints. We define the notion of nonholonomically constrained system, and characterize regularity…
In this paper, we show how to use the analysis of the Lie algebra associated with a quantum mechanical system to study its dynamics and facilitate the design of controls. We give algorithms to decompose the dynamics and describe their…
We address the study of controllability of a closed quantum system whose dynamical Lie algebra is generated by adjacency matrices of graphs. We characterize a large family of graphs that renders a system controllable. The key property is a…
In the present paper, a novel result for inferring uniform global, not semi-global, exponential stability in the sense of Lyapunov with respect to input-affine systems from global uniform exponential stability properties with respect to…
The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to…
In this paper we exhibit new classes of smooth systems which satisfy the Central Limit Theorem (CLT) and have (at least) one of the following properties: (1) zero entropy; (2) weak but not strong mixing; (3) (polynomially) mixing but not…