Related papers: Euler Poincare Dynamics and Control on Lie Groupoi…
We study Euler-Poincare systems (i.e., the Lagrangian analogue of Lie-Poisson Hamiltonian systems) defined on semidirect product Lie algebras. We first give a derivation of the Euler-Poincare equations for a parameter dependent Lagrangian…
This work explores the geometrical/algebraic framework of Lie algebroids, with a specific focus on the decoupling and coupling phenomena within the bicocycle double cross product realization. The bicocycle double cross product theory serves…
The unitary extension principle (UEP) by Ron and Shen yields conditions for the construction of a multi-generated tight wavelet frame for $L^2(\mr^s)$ based on a given refinable function. In this paper we show that the UEP can be…
This work is a spin-off of an on-going programme which aims at revisiting the original studies of Lie and Cartan on pseudogroups and geometric structures from a modern perspective. We encode geometric structures induced by transitive Lie…
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…
The study is devoted to mathematical modeling and optimal control design of longitudinal motions of a rectilinear elastic rod. The control inputs are a force, which is normal to the cross section and distributed piecewise constantly along…
In this work, we study an optimal control problem for a multi-agent system modeled by an undirected formation graph with nodes describing the kinematics of each agent, given by a left-invariant control system on a Lie group. The agents…
We introduce the basic notions and present examples and results on Lie categories -- categories internal to the category of smooth manifolds. Demonstrating how the units of a Lie category $\mathcal C$ dictate the behavior of its invertible…
We establish Ecalle's mould calculus in an abstract Lie-theoretic setting and use it to solve a normalization problem, which covers several formal normal form problems in the theory of dynamical systems. The mould formalism allows us to…
The Lie algebroids are generalization of the Lie algebras. They arise, in particular, as a mathematical tool in investigations of dynamical systems with the first class constraints. Here we consider canonical symmetries of Hamiltonian…
We consider the problem of controlling in minimum time a two-level quantum system which can be subject to a drift. The control is assumed to be bounded in magnitude, and to affect two or three independent generators of the dynamics. We…
This article presents an extension of the Lagrange-Poincare Equations (LPE) to model the dynamics of spacecraft-manipulator systems operating within a non-inertial orbital reference frame. Building upon prior formulations of LPE for…
We study the structure and dynamics of the infinite sequence of extensions of the Poincar{\'e} algebra whose method of construction was described in a previous paper [1]. We give explicitly the Maurer-Cartan (MC) 1-forms of the extended Lie…
In this paper we consider an intrinsic point of view to describe the equations of motion for higher-order variational problems with constraints on higher-order trivial principal bundles. Our techniques are an adaptation of the classical…
Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based trajectory tracking control requires the second time derivatives of the inverse dynamics solution, for which algorithms were proposed. Trajectory…
The Euler-Poincar\'e (EP) equations describe the geodesic motion on the diffeomorphism group. For template matching (template deformation), the Euler-Lagrangian equation, arising from minimizing an energy function, falls into the…
Endowing differentiable functions from a compact manifold to a Lie group with the pointwise group operations one obtains the so-called current groups and, as a special case, loop groups. These are prime examples of infinite-dimensional Lie…
This article considers a discrete-time robust optimal control problem on matrix Lie groups. The underlying system is assumed to be perturbed by exogenous unmeasured bounded disturbances, and the control problem is posed as a min-max optimal…
Recent work has constructed neural networks that are equivariant to continuous symmetry groups such as 2D and 3D rotations. This is accomplished using explicit Lie group representations to derive the equivariant kernels and nonlinearities.…
We construct an extension of the proper orthochronous Lorentz group that includes space-time transformations for observers moving with superluminal relative velocities in arbitrary direction. This extension is generated by a realization of…