Related papers: Euler Poincare Dynamics and Control on Lie Groupoi…
For the arbitrary-Lagrangian-Eulerian (ALE) calculations, the geometric information needs to be calculated at each time step due to the movement of mesh. To achieve the high-order spatial accuracy, a large number of matrix inversions are…
Arnold pointed out that the Euler equation of incompressible ideal hydrodynamics describes geodesics on the group of volume-preserving diffeomorphisms. A simple analogue is the Euler equation for a rigid body, which is the geodesic equation…
We study a trajectory-planning problem whose solution path evolves by means of a Lie group action and passes near a designated set of target positions at particular times. This is a higher-order variational problem in optimal control,…
In this paper, we develop a new and efficient approach to the computation of envelope surfaces. We interpret one-parameter systems of surfaces as curves in the homogeneous spaces of suitable Lie groups. Using the formalism of Lie groups and…
Lagrangian reduction by stages is used to derive the Euler-Poincar\'e equations for the nondissipative coupled motion and micromotion of complex fluids. We mainly treat perfect complex fluids (PCFs) whose order parameters are continuous…
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…
A discrete version of Lagrangian reduction is developed in the context of discrete time Lagrangian systems on $G\times G$, where $G$ is a Lie group. We consider the case when the Lagrange function is invariant with respect to the action of…
We apply the method of controlled Lagrangians by potential shaping to Euler--Poincar\'e mechanical systems with broken symmetry. We assume that the configuration space is a general semidirect product Lie group $\mathsf{G} \ltimes V$ with a…
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…
We consider Lagrangians in Hamilton's principle defined on the tangent space $TG$ of a Lie group $G$. Invariance of such a Lagrangian under the action of $G$ leads to the symmetry-reduced Euler-Lagrange equations called the Euler-Poincar\'e…
By one of the most fundamental principles in physics, a dynamical system will exhibit those motions which extremise an action functional. This leads to the formation of the Euler-Lagrange equations, which serve as a model of how the system…
We endow the group of automorphisms of an exact Courant algebroid over a compact manifold with an infinite dimensional Lie group structure modelled on the inverse limit of Hilbert spaces (ILH). We prove a slice theorem for the action of…
We consider the linear quadratic regulator (LQR) for one-dimensional linear evolution partial differential equations (PDEs) on a finite interval in space. The control is applied as an additive forcing term to PDEs. Existing methods for…
We establish new characterizations for (pseudo)isometric extensions of topological dynamical systems. For such extensions, we also extend results about relatively invariant measures and Fourier analysis that were previously only known in…
We discuss the basic properties of Lie groupoids, Lie algebroids and Lie pseudo-groups in view of applying these techniques to the analysis of Jordan-H\"older resolutions and, subsequently, to the integration of partial differential…
This work presents a novel interpolation-free mesh adaptation technique for the Euler equations within the arbitrary Lagrangian Eulerian framework. For the spatial discretization, we consider a residual distribution scheme, which provides a…
Rigid body dynamics on the rotation group have typically been represented in terms of rotation matrices, unit quaternions, or local coordinates, such as Euler angles. Due to the coordinate singularities associated with local coordinate…
For the time optimal control on an invariant system on SU(2), with two independent controls and a bound on the norm of the control, the extremals of the maximum principle are explicit functions of time and the resulting differential…
Matrix Lie groups are an important class of manifolds commonly used in control and robotics, and optimizing control policies on these manifolds is a fundamental problem. In this work, we propose a novel computationally efficient approach…
The classical Euler--Poinsot case of the rigid body dynamics admits a class of simple but non-trivial integrable generalizations, which modify the Poisson equations describing the motion of the body in space. These generalizations possess…