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

The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering…

Repetitive motion tasks are common in robotics, but performance can degrade over time due to environmental changes and robot wear and tear. Iterative learning control (ILC) improves performance by using information from previous iterations…

We discuss the use of Dirac structures to obtain a better understanding of the geometry of a class of optimal control problems and their reduction by symmetries. In particular we will show how to extend the reduction of Dirac structures…

We show that Lie groups and their respective algebras, special functions and rigged Hilbert spaces are complementary concepts that coexist together in a common framework and that they are aspects of the same mathematical reality. Special…

We develop aspects of geometric control theory on Lie groups G which may be infinite dimensional, and on smooth G-manifolds M modelled on locally convex spaces. As a tool, we discuss existence and uniqueness questions for differential…

Many problems in robotics are fundamentally problems of geometry, which lead to an increased research effort in geometric methods for robotics in recent years. The results were algorithms using the various frameworks of screw theory, Lie…

In this paper, we study the controllability properties and the Lie algebra structure of networks of particles with spin immersed in an electro-magnetic field. We relate the Lie algebra structure to the properties of a graph whose nodes…

Symmetric bi-manual manipulation is an essential skill in on-orbit operations due to its potent load capacity. Previous works have applied compliant control to maintain the stability of manipulations. However, traditional methods have…

Variable impedance model predictive control (MPC) formulations often treat joint stiffness as an instantaneous decision variable. The resulting feasible set strictly contains the physically realizable set under first-order actuator…

We propose a counter-example guided inductive synthesis (CEGIS) scheme for the design of control Lyapunov functions and associated state-feedback controllers for linear systems affected by parametric uncertainty with arbitrary shape. In the…

This paper presents an iterative learning control (ILC) scheme for continuously operated repetitive systems for which no initial condition reset exists. To accomplish this, we develop a lifted system representation that accounts for the…

This paper considers control systems defined on Lie algebroids. After deriving basic controllability tests for general control systems, we specialize our discussion to the class of mechanical control systems on Lie algebroids. This class of…

In contrast to the Euler-Poincar{\'e} reduction of geodesic flows of left- or right-invariant metrics on Lie groups to the corresponding Lie algebra (or its dual), one can consider the reduction of the geodesic flows to the group itself.…

A Lie system is a non-autonomous system of first-order ordinary differential equations whose general solution can be written via an autonomous function, a so-called (nonlinear) superposition rule of a finite number of particular solutions…

We study the relation between two special classes of Riemannian Lie groups $G$ with a left-invariant metric $g$: The Einstein Lie groups, defined by the condition $\operatorname{Ric}_g=cg$, and the geodesic orbit Lie groups, defined by the…

This paper presents a derivation of the parallel transport equation expressed in the Lie algebra of a Lie group endowed with a left-invariant metric.The use of this equation is exemplified on the group of rigid body motions SE(3), using…

We study the role of symmetries in control systems through the geometric algebra approach. We discuss two specific control problems on Carnot groups of step $2$ invariant with respect to the action of $SO(3)$. We understand the geodesics as…

We investigate several problems in relativity and particle physics where symmetries play a central role; in all cases geometric properties of Lie groups and their quotients are related to physical effects. The first part is concerned with…

Potential algebras can be used effectively in the analysis of the quantum systems. In the article, we focus on the systems described by a separable, 2x2 matrix Hamiltonian of the first order in derivatives. We find integrals of motion of…

We study a Riemannian metric on the cone of symmetric positive-definite matrices obtained from the Hessian of the power potential function $(1-\det(X)^\beta)/\beta$. We give explicit expressions for the geodesics and distance function,…