Related papers: "Good Lie Brackets" for Control Affine Systems
This paper concerns the numerical procedure for solving hybrid optimal control problems with sliding modes. A sliding mode is coped with differential-algebraic equations (DAEs) and that guarantees accurate tracking of the sliding motion…
We study solution techniques for a linear-quadratic optimal control problem involving fractional powers of elliptic operators. These fractional operators can be realized as the Dirichlet-to-Neumann map for a nonuniformly elliptic problem…
A frame-independent formulation of Lie brackets on affine spaces or {\em Lie affebras} introduced in [K.\ Grabowska, J.\ Grabowski \& P.\ Urba\'nski, Lie brackets on affine bundles, {\em Ann.\ Global Anal.\ Geom.} {\bf 24} (2003), 101--130]…
This paper shows that various relevant dynamical systems can be described as vector fields associated to smooth functions via a bracket that defines what we call a Leibniz structure. We show that gradient flows, some dissipative systems,…
In this paper we provide a thorough, rigorous theoretical framework to assess optimality guarantees of sampling-based algorithms for drift control systems: systems that, loosely speaking, can not stop instantaneously due to momentum. We…
By reformulating a learning process of a set system L as a game between Teacher (presenter of data) and Learner (updater of the abstract independent set), we define the order type dim L of L to be the order type of the game tree. The theory…
Using the semigroup approach to abstract boundary control problems we characterize the space of all exactly reachable states. Moreover, we study the situation when the controls of the system are required to be positive. The abstract results…
This work investigates an elliptic optimal control problem defined on uncertain domains and discretized by a fictitious domain finite element method and cut elements. Key ingredients of the study are to manage cases considering the usually…
Linear systems on Lie groups are a natural generalization of linear system on Euclidian spaces. When the state space is a solvable connected Lie group, controllability of the linear system is assured if the ad-rank condition holds.
In this paper, we propose a new control design scheme for solving the obstacle avoidance problem for nonlinear driftless control-affine systems. The class of systems under consideration satisfies controllability conditions with iterated Lie…
A joint characterisation of the controllability and observability of a particular kind of discrete system has been developed. The key idea of the procedure can be reduced to a correct choice of the sampling sequence. This freedom, owing to…
The Fast Fourier Transform (FFT) over a finite field $\mathbb{F}_q$ computes evaluations of a given polynomial of degree less than $n$ at a specifically chosen set of $n$ distinct evaluation points in $\mathbb{F}_q$. If $q$ or $q-1$ is a…
For a complex finite-dimensional filiform Lie algebra $\mathfrak g$, we first study the bifiltration given by the bracket ideals $[C^k\mathfrak g,C^\ell\mathfrak g]$ and then the behavior of its associated bivariate Hilbert polynomial. This…
Recent developments in data-driven control have revived interest in the behavioral approach to systems theory, where systems are defined as sets of trajectories rather than being described by a specific model or representation. However,…
We address the problem of minimizing a smooth function $f^0(x)$ over a compact set $D$ defined by smooth functional constraints $f^i(x)\leq 0,~ i = 1,\ldots, m$ given noisy value measurements of $f^i(x)$. This problem arises in…
For the direct sum of several copies of sl_n, a family of Lie brackets compatible with the initial one is constructed. The structure constants of these brackets are expressed in terms of theta-functions associated with an elliptic curve.…
This paper considers the problem of learning control laws for nonlinear polynomial systems directly from the data, which are input-output measurements collected in an experiment over a finite time period. Without explicitly identifying the…
Accurate tracking of planned trajectories in the presence of perturbations is an important problem in control and robotics. Symmetry is a fundamental mathematical feature of many dynamical systems and exploiting this property offers the…
A Lie polynomial is an element of a free Lie algebra $\mathcal F_k$ on $k$-generators, which defines a Lie map on a given Lie algebra $L$, by substituting $k$-elements of $L$. Similar to word maps on groups and polynomial maps on algebras,…
In this paper we explicitly calculate the control sets associated with a linear control system on the two dimensional solvable Lie group. We show that a linear control system of such kind admits exactly one control set or infinite control…