Related papers: "Good Lie Brackets" for Control Affine Systems
Finite-state models of control systems were proposed by several researchers as a convenient mechanism to synthesize controllers enforcing complex specifications. Most techniques for the construction of such symbolic models have two main…
We develop a discrete-time optimal control framework for systems evolving on Lie groups. Our work generalizes the original Differential Dynamic Programming method, by employing a coordinate-free, Lie-theoretic approach for its derivation. A…
In this paper we show that a complete characterization of the controllability property for linear control system on three-dimensional solvable nonnilpotent Lie groups is possible by the LARC and the knowledge of the eigenvalues of the…
Lie groups and quantum algebras are connected through their common universal enveloping algebra. The adjoint action of Lie group on its algebra is naturally extended to related q-algebra and q-coalgebra. In such a way, quantum structure can…
We consider the problem of steering a collection of n particles that obey identical n-dimensional linear dynamics via a common state feedback law towards a rearrangement of their positions, cast as a controllability problem for a dynamical…
Higher order necessary conditions for a minimizer of an optimal control problem are generally obtained for systems whose dynamics is continuously differentiable in the state variable. Here, by making use of the notion of set-valued Lie…
For control-affine systems on non-compact manifolds, the notion of strong chain control sets is introduced and related to the strong chain transitivity of the associated control flows. Affine control systems on R^n are embedded into…
This paper develops a geometric framework for virtual constraints on Lie groups, with emphasis on mechanical systems modeled as affine connection systems. Virtual holonomic and virtual nonholonomic constraints, including linear and affine…
A Lie system is a system of differential equations admitting a superposition rule, i.e., a function describing its general solution in terms of any generic set of particular solutions and some constants. Following ideas going back to the…
Let's consider a control system described by the implicit equation $F(x,\dot x) = 0$. If this system is differentially flat, then the following criterion is satisfied : For some integer $r$, there exists a function $\varphi(y_0, y_1,…
For a given closed target we embed the dissipative relation that defines a control Lyapunov function in a more general differential inequality involving Hamiltonians built from iterated Lie brackets. The solutions of the resulting extended…
The purpose of this paper is to describe explicitly the solution for linear control systems on Lie groups. In case of linear control systems with inner derivations, the solution is given basically by the product of the exponential of the…
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…
We introduce a family of hybrid discretisations for the numerical approximation of optimal control problems governed by the equations of immiscible displacement in porous media. The proposed schemes are based on mixed and discontinuous…
We obtain higher order necessary conditions for a minimum of a Mayer optimal control problem connected with a nonlinear, control-affine system, where the controls range on an m-dimensional Euclidean space. Since the allowed velocities are…
This paper examines the controllability for quantum control systems with SU(1,1) dynamical symmetry, namely, the ability to use some electromagnetic field to redirect the quantum system toward a desired evolution. The problem is formalized…
A {\it Lie system} is a nonautonomous system of first-order differential equations admitting a {\it superposition rule}, i.e., a map expressing its general solution in terms of a generic family of particular solutions and some constants.…
We consider nonlinear scalar-input differential control systems in the vicinity of an equilibrium. When the linearized system at the equilibrium is controllable, the nonlinear system is smoothly small-time locally controllable, i.e.,…
In this paper, we study graphical conditions for structural controllability and accessibility of drifted bilinear systems over Lie groups. We consider a bilinear control system with drift and controlled terms that evolves over the special…
In this paper we study the uniform perfectness, boundedness and uniform simplicity of diffeomorphism groups of compact manifolds with boundary and open manifolds and obtain some upper bounds of their diameters with respect to commutator…