相关论文: "Good Lie Brackets" for Control Affine Systems

On a closed and connected symplectic manifold, the group of Hamiltonian diffeomorphisms has the structure of an infinite-dimensional Fr\'echet Lie group, where the Lie algebra is naturally identified with the space of smooth and zero-mean…

Fr\"olicher spaces form a cartesian closed category which contains the category of smooth manifolds as a full subcategory. Therefore, mapping groups such as C^\infty(M,G) or \Diff(M), but also projective limits of Lie groups are in a…

This paper is devoted to the analysis of problems of optimal control of ensembles governed by the Liouville (or continuity) equation. The formulation and study of these problems have been put forward in recent years by R.W. Brockett, with…

This paper deals with affine connections on real manifolds. We give a new characterization of flat affine connections on real manifolds by means of certain affine representations of the Lie group of automorphisms preserving the connection.…

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 study the small-time controllability problem on the Lie groups $SL_2(\mathbb{R})$ and $SL_2(\mathbb{R})\ltimes H_{d}(\mathbb{R})$ with Lie bracket methods (here $H_{d}(\mathbb{R})$ denotes the $(2d+1)$-dimensional real Heisenberg group).…

In this paper, we analyze the chain control sets of linear control systems on connected Lie groups. Our main result shows that the compactness of the central subgroup associated with the drift is a necessary and sufficient condition to…

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…

The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…

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…

The problem of tracking an arbitrary curve in the state space is considered for underactuated driftless control-affine systems. This problem is formulated as the stabilization of a time-varying family of sets associated with a neighborhood…

We consider the stabilization problem for driftless control-affine systems under the bracket-generating condition. In our previous works, a class of time-varying feedback laws has been constructed to stabilize the equilibrium of a…

In this paper we answer positively a question of whether it is possible for a circle diffeomorphism with breaks to be smoothly conjugate to a rigid rotation in the case when its breaks are lying on pairwise distinct trajectories. An example…

The Lie product and the order relation are viewed as defining structures for Hamiltonian dynamical systems. Their admissible combinations are singled out by the requirement that the group of the Lie automorphisms be contained in the group…

We consider in this paper the regularity problem for time-optimal trajectories of a single-input control-affine system on a n-dimensional manifold. We prove that, under generic conditions on the drift and the controlled vector field, any…

Lie group theory states that knowledge of a $m$-parameters solvable group of symmetries of a system of ordinary differential equations allows to reduce by $m$ the number of equations. We apply this principle by finding some \emph{affine…

This paper describes an approach to construct temporally shaped control pulses that drive a quantum system towards desired properties. A parametrization in terms of periodic functions with pre-defined frequencies permits to realize a…

In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the…

We study possibilities to control an ensemble (a parameterized family) of nonlinear control systems by a single parameter-independent control. Proceeding by Lie algebraic methods we establish genericity of exact controllability property for…

We propose a semi-discrete numerical scheme and establish well-posedness of a class of parabolic systems. Such systems naturally arise while studying the optimal control of grain boundary motions. The latter is typically described using a…