Related papers: Optimal control problems on the co-adjoint Lie gro…
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…
In this survey, we discuss a series of linearization problems--for Poisson structures, Lie algebroids, and Lie groupoids. The last problem involves a conjecture on the structure of proper groupoids. Attempting to prove this by the method of…
As we said in our previous work [4], the main idea of our research is to introduce a class of Lie groupoids by means of co-adjoint representation of a Lie groupoid on its isotropy Lie algebroid, which we called coadjoint Lie groupoids. In…
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…
This paper is concerned with a constrained stochastic linear-quadratic optimal control problem, in which the terminal state is fixed and the initial state is constrained to lie in a stochastic linear manifold. The controllability of…
In this paper we study reduction by symmetry for optimality conditions in optimal control problems of left-invariant affine multi-agent control systems, with partial symmetry breaking cost functions. Our approach emphasizes the role of…
In this paper we will discuss some new developments in the design of numerical methods for optimal control problems of Lagrangian systems on Lie groups. We will construct these geometric integrators using discrete variational calculus on…
A class of optimal control problems governed by linear fractional diffusion equation with control constraint is considered. We first establish some results on the existence of strong solution to the state equation and the existence of…
The paper discusses various aspects of time-optimal control of quantum spin systems, modelled as right-invariant systems on a compact Lie group G. The main results are the reduction of such a system to an equivalent system on a homogeneous…
This paper addresses the time-optimal control problem for a class of control systems which includes controlled mechanical systems with possible dissipation terms. The Lie algebras associated with such mechanical systems enjoy certain…
We develop a Poisson Hamiltonian formulation of Pontryagin dynamics for optimal control of mechanical systems on Lie groupoids. The reduced dynamics is formulated intrinsically on the dual Lie algebroid endowed with its canonical linear…
We study local structure of time-optimal controls and trajectories for a 3-dimensional control-affine system with a 2-dimensional control parameter with values in the disk. In particular, we give sufficient conditions, in terms of Lie…
Hilbert--Lie groups are Lie groups whose Lie algebra is a real Hilbert space whose scalar product is invariant under the adjoint action. These infinite-dimensional Lie groups are the closest relatives to compact Lie groups. Here we study…
We study the reduction by symmetry for optimality conditions in optimal control problems of left-invariant affine multi-agent control systems, with partial symmetry breaking cost functions for continuous-time and discrete-time systems. We…
The Linearization Theorem for proper Lie groupoids organizes and generalizes several results for classic geometries. Despite the various approaches and recent works on the subject, the problem of understanding invariant linearization…
We propose the method for obtaining invariants of arbitrary representations of Lie groups that reduces this problem to known problems of linear algebra. The basis of this method is the idea of a special extension of the representation…
The main result of this article is an application of the theory of invariant convex cones of Lie algebras to the study of unitary representations of Lie supergroups. It also includes an exposition of recent results of the second author on…
In this paper, motivated by the study of optimal control problems for infinite dimensional systems with endpoint state constraints, we introduce the notion of finite codimensional (exact/approximate) controllability. Some equivalent…
We will prove that the generalized Lie algebroid is a distinguished example by Lie algebroid. The generality of it with respect to the Lie algebroid is similar with the generality of the pull-back vector bundle with respect to the vector…
This paper considers control systems defined on Lie algebroids. After deriving basic controllability tests for general control systems, we specialize our discussion to the class of mechanical control systems on Lie algebroids. This class of…