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We derive an optimal control formulation for a nonholonomic mechanical system using the nonholonomic constraint itself as the control. We focus on Suslov's problem, which is defined as the motion of a rigid body with a vanishing projection…
That announcement gives the structure of totally reducible linear Lie algebras which are the Lie algebra of the holonomy group of (at least) one torsion-free connection. The result uses the (already known) classi cation of the irreducible…
The notion of quantum algebras is merged with that of Lie systems in order to establish a new formalism called Poisson-Hopf algebra deformations of Lie systems. The procedure can be naturally applied to Lie systems endowed with a symplectic…
Two Lie algebroids are presented that are linked to the construction of the linearizing output of an affine in the input nonlinear system. The algorithmic construction of the linearizing output proceeds inductively, and each stage has two…
This paper investigates the dynamics of nonholonomic mechanical systems, with a particular focus on the fundamental variational assumptions and the role of the transpositional rule. We analyze how the $\check Cetaev condition and the first…
We extend the Euler Poincare formalism from Lie groups to Lie groupoids for optimal control problems. While Lie algebroids provide the standard infinitesimal framework, the groupoid formulation enables global trajectory reconstruction and…
This paper presents new research in infinitesimal algebra by introducing the concept of an infinitesimal group and exploring its properties and ramifications. The author investigates first- and second-order subgroups of Lie groups and…
In this paper we propose a (non-linear) smoothing algorithm for group-affine observation systems, a recently introduced class of estimation problems on Lie groups that bear a particular structure. As most non-linear smoothing methods, the…
A Lie-Hamilton system is a nonautonomous system of first-order ordinary differential equations describing the integral curves of a $t$-dependent vector field taking values in a finite-dimensional Lie algebra, a Vessiot-Guldberg Lie algebra,…
In [1] we initiated an approach towards quantizing the Hamiltonian constraint in Loop Quantum Gravity (LQG) by requiring that it generates an anomaly-free representation of constraint algebra off-shell. We investigated this issue in the…
We propose Lie group embedded dynamical neural networks (LieEDNN) and the corresponding learning algorithms based on gradient descent and metric projection on smooth manifold, where we treat Lie group as an intrinsic representation for…
We study substructures of the Weyl group of conformal transformations of the metric of (pseudo)Riemannian manifolds. These substructures are identified by differential constraints on the conformal factors of the transformations which are…
In this paper we find a representative of each orbit of the adjoint action of a real affine classical group of its Lie algebra. These orbits are not determined by the usual Jordan invariants of eigenvalues and block sizes, but require a…
Screw and Lie group theory allows for user-friendly modeling of multibody systems (MBS) while at the same they give rise to computationally efficient recursive algorithms. The inherent frame invariance of such formulations allows for use of…
This is the first of a series of papers in which a new formulation of quantum theory is developed for totally constrained systems, that is, canonical systems in which the hamiltonian is written as a linear combination of constraints…
For the unicycle system, we provide constructive methods for the design of feedback laws that have one or more of the following properties: being nonmodular and globally exponentially stabilizing, inverse optimal, robust to arbitrary…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
This paper deals essentially with affine or projective transformations of Lie groups endowed with a flat left invariant affine or projective structure. These groups are called flat affine or flat projective Lie groups. Our main results…
Discrete models have a long tradition in engineering, including finite state machines, Boolean networks, Petri nets, and agent-based models. Of particular importance is the question of how the model structure constrains its dynamics. This…
In this paper, we develop the theory of constrained motion spaces of robotic arms. We compute their homology groups in two cases: when the constraint is a horizontal line and when it is a smooth curve whose motion space is a smooth…