On the affine random walk on the torus

Let $\mu$ be a borelian probability measure on $\mathbf{G}:=\mathrm{SL}_d(\mathbb{Z}) \ltimes \mathbb{T}^d$. Define, for $x\in \mathbb{T}^d$, a random walk starting at $x$ denoting for $n\in \mathbb{N}$, $$\left\{\begin{array}{rcl} X_0 &=&x\\ X_{n+1} &=& a_{n+1} X_n + b_{n+1} \end{array}\right.$$ where $((a_n,b_n))\in \mathbf{G}^\mathbb{N}$ is an iid sequence of law $\mu$. Then, we denote by $\mathbb{P}_x$ the measure on $(\mathbb{T}^d)^\mathbb{N}$ that is the image of $\mu^{\otimes \mathbb{N}}$ by the map $\left((g_n) \mapsto (x,g_1 x, g_2 g_1 x, \dots , g_n \dots g_1 x, \dots)\right)$ and for any $\varphi \in \mathrm{L}^1((\mathbb{T}^d)^\mathbb{N}, \mathbb{P}_x)$, we set $\mathbb{E}_x \varphi((X_n)) = \int \varphi((X_n)) \mathrm{d}\mathbb{P}_x((X_n))$. Bourgain, Furmann, Lindenstrauss and Mozes studied this random walk when $\mu$ is concentrated on $\mathrm{SL}_d(\mathbb{Z}) \ltimes\{0\}$ and this allowed us to study, for any h\"older-continuous function $f$ on the torus, the sequence $(f(X_n))$ when $x$ is not too well approximable by rational points. In this article, we are interested in the case where $\mu$ is not concentrated on $\mathrm{SL}_d(\mathbb{Z}) \ltimes \mathbb{Q}^d/\mathbb{Z}^d$ and we prove that, under assumptions on the group spanned by the support of $\mu$, the Lebesgue's measure $\nu$ on the torus is the only stationary probability measure and that for any h\"older-continuous function $f$ on the torus, $\mathbb{E}_x f(X_n)$ converges exponentially fast to $\int f\mathrm{d}\nu$. Then, we use this to prove the law of large numbers, a non-concentration inequality, the functional central limit theorem and it's almost-sure version for the sequence $(f(X_n))$. In the appendix, we state a non-concentration inequality for products of random matrices without any irreducibility assumption.