相关论文: A Comparison Between Lie Group- and Lie Algebra- B…

Let (N,g) be a nilpotent Lie group endowed with an invariant geometric structure (cf. symplectic, complex, hypercomplex or any of their `almost' versions). We define a left invariant Riemannian metric on N compatible with g to be minimal,…

We develop the Lie theory of Lie-admissible algebras whose product is enriched with higher operations modeled on directed graphs with a view to apply it to the deformation theories controlled by this kind of Lie algebras. We produce…

We give an introduction to the realisation theory for infinite-dimensional systems. That is, we show that for any function $G$, analytic and bounded in the right half of the complex plane, there exists operators $A,B,C$ such that…

We present the design of a learning-based compliance controller for assembly operations for industrial robots. We propose a solution within the general setting of learning from demonstration (LfD), where a nominal trajectory is provided…

The geometric theory of Lie systems will be used to establish integrability conditions for several systems of differential equations, in particular Riccati equations and Ermakov systems. Many different integrability criteria in the…

The Gaussian Effective Potential (GEP) is derived for the non-Abelian SU(2)xU(1) gauge theory of electroweak interactions. First the problem of gauge invariance is addressed in the Abelian U(1) theory, where an optimized GEP is shown to be…

The output impedance matrix of a grid-connected converter plays an important role in analyzing system stability. Due to the dynamics of the DC-link control and the phase locked loop (PLL), the output impedance matrices of the converter and…

Methods of construction of the composition function, left- and right-invariant vector fields and differential 1-forms of a Lie group from the structure constants of the associated Lie algebra are proposed. It is shown that in the second…

The author studies the G\"odel Universe as the Lie group with left-invariant Lorentz metric. The expressions for timelike and isotropic geodesics in elementary functions are found by methods of geometric theory of optimal control for the…

Model predictive control (MPC) is a popular approach for trajectory optimization in practical robotics applications. MPC policies can optimize trajectory parameters under kinodynamic and safety constraints and provide guarantees on safety,…

Barrier potentials gained popularity as a means for robust contact handling in physical modeling and for modeling self-avoiding shapes. The key to the success of these approaches is adherence to geometric constraints, i.e., avoiding…

We propose Geometric Clifford Algebra Networks (GCANs) for modeling dynamical systems. GCANs are based on symmetry group transformations using geometric (Clifford) algebras. We first review the quintessence of modern (plane-based) geometric…

Gaussian Processes (GPs) are widely employed in control and learning because of their principled treatment of uncertainty. However, tracking uncertainty for iterative, multi-step predictions in general leads to an analytically intractable…

On a discrete group G a length function may implement a spectral triple on the reduced group C*-algebra. Following A. Connes, the Dirac operator of the triple then can induce a metric on the state space of reduced group C*-algebra. Recent…

Following recent work in search of a universal function (Van Hooydonk, Eur J Inorg Chem, 1999, 1617), we test symmetric potentials for reproducing molecular potential energy curves (PECs). For a bond, a four-particle system, charge…

State-of-the-art techniques for modeling, analysis and control of three-phase electrical systems belong to the real-valued multi-input/multi-output (MIMO) domain, or to the complex-valued nonlinear single-input/single-output (SISO) domain.…

The ultimate goal of our book is to present a unified approach to the dynamics, ergodic theory, and geometry of elliptic functions from $\C$ to $\oc$. We consider elliptic functions as a most regular class of transcendental meromorphic…

Model Predictive Control (MPC) is often tuned by trial and error. When a baseline linear controller exists that is already well tuned in the absence of constraints and MPC is introduced to enforce them, one would like to avoid altering the…

Although symmetric informationally complete positive operator valued measures (SIC POVMs, or SICs for short) have been constructed in every dimension up to 67, a general existence proof remains elusive. The purpose of this paper is to show…

A novel efficient method for computing the Knowledge-Gradient policy for Continuous Parameters (KGCP) for deterministic optimization is derived. The differences with Expected Improvement (EI), a popular choice for Bayesian optimization of…