相关论文: Controllability of the rolling system of a Lorentz…

We consider a complete noncompact smooth metric measure space $(M^n,g,e^{-f} dv)$ and the associated drifting Laplacian. We find sufficient conditions on the geometry of the space so that every nonnegative $f$-subharmonic function with…

We consider a one-parametric series of left-invariant Lorentzian structures on the universal covering of the Lie group SL(2,R). These structures have SO(1,1)-symmetry and they are deformations of the anti-de Sitter Lorentzian manifold. We…

The holonomy group of an (n+2)-dimensional simply-connected, indecomposable but non-irreducible Lorentzian manifold (M,h) is contained in the parabolic group $(\mathbb{R} \times SO(n))\ltimes \mathbb{R}^n$. The main ingredient of such a…

In this paper, we study graphical conditions for structural controllability and accessibility of drifted bilinear systems over Lie groups. We consider a bilinear control system with drift and controlled terms that evolves over the special…

Linear systems on Lie groups are a natural generalization of linear system on Euclidian spaces. For such systems, this paper studies controllability by taking in consideration the eigenvalues of an associated derivation D. When the state…

Let $M$ be a smooth connected and complete manifold of dimension $n$, and $\Delta$ be a smooth nonholonomic distribution of rank $m\leq n$ on $M$. We prove that, if there exists a smooth Riemannian metric on $\Delta$ for which no nontrivial…

The paper analyzes a Lagrangian system which is controlled by directly assigning some of the coordinates as functions of time, by means of frictionless constraints. In a natural system of coordinates, the equations of motions contain terms…

In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost functional, given initial and final conditions where the…

We study the relativistic formulation of a classical time-dependent nonholonomic Lagrangian mechanics from the perspective of moving frames. We also introduce time-dependent $G$-Chaplygin systems with affine constraints, which are natural…

We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers. Given the intrinsically coupled translational and rotational dynamics of such vehicles, we first discuss some…

The objective of the current paper is essentially twofold. Firstly, to make clear the difference between two notions of rolling a Riemannian manifold over another, using a language accessible to a wider audience, in particular to readers…

In the paper we present the qualitative analysis of rolling motion without slipping of a homogeneous round disk on a horisontal plane. The problem was studied by S.A. Chaplygin, P. Appel and D. Korteweg who showed its integrability. The…

The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance-free system, a robustifying feedback extension is designed utilizing the sliding-mode control (SMC)…

We study the limiting distribution of dense orbits of a lattice subgroup $\Gamma\le \text{SL}(m+1,\mathbb{R})$ acting on $H\backslash\text{SL}(m+1,\mathbb{R})$, with respect to a filtration of growing norm balls. The novelty of our work is…

Let (M, g) be an (n+1) dimensional space-time, with bounded curvature with respect to a bounded framing. If (M, g) is vacuum or satisfies a mild condition on the stress-energy tensor, then we show that (M, g) locally admits coordinate…

This paper completely solves the controllability problems of two-dimensional multi-input discrete-time bilinear systems with and without drift. Necessary and sufficient conditions for controllability, which cover the existing results, are…

This paper extends sliding-mode control theory to nonlinear systems evolving on smooth manifolds. Building on differential geometric methods, we reformulate Filippov's notion of solutions, characterize well-defined vector fields on quotient…

Billiard systems, broadly speaking, may be regarded as models of mechanical systems in which rigid parts interact through elastic impulsive (collision) forces. When it is desired or necessary to account for linear/angular momentum exchange…

Fruitful ideas on how to quantize gravity are few and far between. In this paper, we give a complete description of a recently introduced non-perturbative gravitational path integral whose continuum limit has already been investigated…

In this paper, we study linear control systems with positive bounded orbits. We show that the existence of positive bounded orbits imposes strong algebraic and topological constraints on the state space. In fact, a linear control system has…