Related papers: Equivariant Tracking Control for Fully Actuated Me…
Integrable systems in low dimensions, constructed through the symmetry reduction method, are studied using phase portrait and variable separation techniques. In particular, invariant quantities and explicit periodic solutions are…
We study the local structure of Lie bialgebroids at regular points. In particular, we classify all transitive Lie bialgebroids. In special cases, they are connected to classical dynamical $r$-matrices and matched pairs induced by Poisson…
The space $\mathcal{Z}$ of leftinvariant orthogonal almost complex structures, keeping the orientation, on 6-dimensional Lie groups is researched. To get explicit view of this space elements the isomorphism of $\mathcal{Z}$ and…
This book explores geometries defined by left-invariant distance functions on Lie groups, with a particular focus on nilpotent groups and Carnot groups equipped with geodesic distances. Geodesic left-invariant metrics are either…
Modeling and control of nonlinear dynamics are critical in robotics, especially in scenarios with unpredictable external influences and complex dynamics. Traditional cascaded modular control pipelines often yield suboptimal performance due…
Port-Hamiltonian systems (PHS) and interconnection and damping assignment passivity-based control (IDA-PBC) have achieved broad success in modelling and stabilisation of physical systems. However, the absence of a dedicated scalar potential…
Attitude tracking on the unit sphere of dimension $3$ based on sliding mode is considered in this paper. The tangent bundle of Lagrangian dynamics that describes the rotational motion of a rigid body is first shown to be a Lie group, and…
External and internal convertible (EIC) form-based motion control is one of the effective designs of simultaneously trajectory tracking and balance for underactuated balance robots. Under certain conditions, the EIC-based control design…
We consider the problem of stochastic prediction and control in a time-dependent stochastic environment, such as the ocean, where escape from an almost invariant region occurs due to random fluctuations. We determine high-probability…
In this work, we prove that, under a topological condition, the cohomology associated with left-invariant elliptic structures on compact semisimple Lie groups can be computed using only left-invariant forms. This reduces the analytical…
Damped-driven systems are ubiquitous in engineering and science. Despite the diversity of physical processes observed in a broad range of applications, the underlying instabilities observed in practice have a universal characterization…
We study a Lie algebra $\mathcal A_{a_1,\ldots,a_{n-1}}$ of deformed skew-symmetric $n \times n$ matrices endowed with a Lie bracket given by a choice of deformed symmetric matrix. The deformations are parametrized by a sequence of real…
Given a finite-dimensional time continuous control system and $\varepsilon>0$, we address the question of the existence of controls that maintain the corresponding state trajectories in the $\varepsilon$-neighborhood of any prescribed path…
In this paper we study, from a variational and geometrical point of view, second-order variational problems on Lie groupoids and the construction of variational integrators for optimal control problems. First, we develop variational…
This paper studies the reduced dynamics of the three-vortex problem from the point of view of Lie-Poisson reduction on the dual of the Lie algebra of $ U(2) $. The algebraic study leading to this point of view has been given by Borisov and…
Automorphic Lie Algebras arise in the context of reduction groups introduced in the late 1970s in the field of integrable systems. They are subalgebras of Lie algebras over a ring of rational functions, defined by invariance under the…
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…
Classical mechanical systems are defined by their kinetic and potential energies. They generate a Lie algebra under the canonical Poisson bracket. This Lie algebra, which is usually infinite dimensional, is useful in analyzing the system,…
Through assembling the navigation parameters as matrix Lie group state, the corresponding inertial navigation system (INS) kinematic model possesses a group-affine property. The Lie logarithm of the navigation state estimation error…
In this paper, we study the Lie point symmetry group of a system describing an ideal plastic plane flow in two dimensions in order to find analytical solutions of the system. The infinitesimal generators that span the Lie algebra for this…