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Since they were introduced in the 1990s, Lie group integrators have become a method of choice in many application areas. These include multibody dynamics, shape analysis, data science, image registration and biophysical simulations. Two…
The control of bilinear systems has attracted considerable attention in the field of systems and control for decades, owing to their prevalence in diverse applications across science and engineering disciplines. Although much work has been…
We demonstrate when and how an entire left-infinite orbit of an underlying dynamical system or observations from such left-infinite orbits can be uniquely represented by a pair of elements in a different space, a phenomenon which we call…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
It was proposed the Lie group such that symplectic structure of orbits of co-adjoint representation of the group is revealed symplectic structure of a rigid body dynamics in quaternion variables. It is shown that Poisson brackets of…
Two-dimensional systems with time-dependent controls admit a quadratic Hamiltonian modelling near potential minima. Independent, dynamical normal modes facilitate inverse Hamiltonian engineering to control the system dynamics, but some…
A Riemann-Poisson Lie group is a Lie group endowed with a left invariant Riemannian metric and a left invariant Poisson tensor which are compatible in the sense introduced in C.R. Acad. Sci. Paris s\'er. {\bf I 333} (2001) 763-768. We study…
Handling orientations of robots and objects is a crucial aspect of many applications. Yet, ever so often, there is a lack of mathematical correctness when dealing with orientations, especially in learning pipelines involving, for example,…
Inspired by flight characteristics captured from live Monarch butterflies, an optimal control problem is presented while accounting the effects of low-frequency flapping and abdomen undulation. A flapping-wing aerial vehicle is modeled as…
We investigate the dynamics of the driven open double two-level system by deriving a driven Markovian master equation based on the Lewis-Riesenfeld invariant theory. The transitions induced by coupling to the heat reservoir occur between…
This paper studies formation control of an arbitrary number of spacecraft based on a serial network structure. The leader controls its absolute position and absolute attitude with respect to an inertial frame, and the followers control its…
In this paper, we describe a geometric setting for higher-order lagrangian problems on Lie groups. Using left-trivialization of the higher-order tangent bundle of a Lie group and an adaptation of the classical Skinner-Rusk formalism, we…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
Reduction is a process that uses symmetry to lower the order of a Hamiltonian system. The new variables in the reduced picture are often not canonical: there are no clear variables representing positions and momenta, and the Poisson bracket…
This paper formulates optimal control problems for rigid bodies in a geometric manner and it presents computational procedures based on this geometric formulation for numerically solving these optimal control problems. The dynamics of each…
Model-based Reinforcement Learning and Control have demonstrated great potential in various sequential decision making problem domains, including in robotics settings. However, real-world robotics systems often present challenges that limit…
This article establishes the foundation for a new theory of invariant/integral manifolds for non-autonomous dynamical systems. Current rigorous support for dimensional reduction modelling of slow-fast systems is limited by the rare events…
In this paper, we study a class of stochastic optimal control problem with jumps under partial information. More precisely, the controlled systems are described by a fully coupled nonlinear multi- dimensional forward-backward stochastic…
It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…
In view of controlling finite dimensional open quantum systems, we provide a unified Lie-semigroup framework describing the structure of completely positive trace-preserving maps. It allows (i) to identify the Kossakowski-Lindblad…