相关论文: Singular reduction for nonlinear control systems

The orbital basis is natural when one needs to calculate the effect of local interactions or to unravel the role of orbital physics in the response to external probes. In systems with nonsymmorphic point groups, such as the iron-based…

Initially introduced in the framework of quantum control, the so-called "monotonic algorithms" have demonstrated excellent numerical performance when dealing with bilinear optimal control problems. This paper presents a unified formulation…

This paper develops the theory of abelian Routh reduction for discrete mechanical systems and applies it to the variational integration of mechanical systems with abelian symmetry. The reduction of variational Runge-Kutta discretizations is…

Let $S=S_{g,p}$ be a compact, orientable surface of genus $g$ with $p$ punctures and such that $d(S):=3g-3+p>0$. The mapping class group $\textup{Mod}_S$ acts properly discontinuously on the Teichm\"uller space $\mathcal T(S)$ of marked…

We show that noncommutative gauge theories with arbitrary compact gauge group defined by means of the Seiberg-Witten map have the same one-loop anomalies as their commutative counterparts. This is done in two steps. By explicitly…

We make some general remarks on long-ranged configurations in gauge or diffeomorphism invariant theories where the fields are allowed to assume some non vanishing values at spatial infinity. In this case the Gauss constraint only eliminates…

For a broad class of nonlinear systems, we construct smooth control-Lyapunov functions whose derivatives along the trajectories of the systems can be made negative definite by smooth control laws that are arbitrarily small in norm. We…

We give two proofs of the Kalman Theorem, alternative to the most common ones, which infer such a classical result of Control Theory using just very basic facts on flows of vector fields. These proofs are apt to be generalised in diverse…

In this note, we propose a symplectic algorithm for the stable manifolds of the Hamilton-Jacobi equations combined with an iterative procedure in [Sakamoto-van~der Schaft, IEEE Transactions on Automatic Control, 2008]. Our algorithm…

This paper studies the design of controllers for discontinuous dynamics that ensure the safety of non-smooth sets. The safe set is represented by arbitrarily nested unions and intersections of 0-superlevel sets of differentiable functions.…

We formulate Euler-Poincar\'e and Lagrange-Poincar\'e equations for systems with broken symmetry. We specialize the general theory to present explicit equations of motion for nematic systems, ranging from single nematic molecules to biaxial…

We deal with a singularly perturbed optimal control problem with slow and fast variable depending on a parameter {\epsilon}. We study the asymptotic, as {\epsilon} goes to 0, of the corresponding value functions, and show convergence, in…

We present the consistent approach to finding the discrete transformations in the representation spaces of the proper Poincar\'e group. To this end we use the possibility to establish a correspondence between involutory automorphisms of the…

In \cite{BAMU}, an ergodic theorem \`a la Birkhoff-von Neumann for the action of the fundamental group of a compact negatively curved manifold on the boundary of its universal cover is proved. A quick corollary is the irreducibility of the…

A slight modification to one of Tarski's axioms of plane Euclidean geometry is proposed. This modification allows another of the axioms to be omitted from the set of axioms and proven as a theorem. This change to the system of axioms…

The ability to robustly and efficiently control the dynamics of nonlinear systems lies at the heart of many current technological challenges, ranging from drug delivery systems to ensuring flight safety. Most such scenarios are too complex…

This encyclopedia article briefly reviews without proofs some of the main results in symplectic reduction. The article recalls most the necessary prerequisites to understand the main results, namely, group actions, momentum maps, and…

This paper develops a new approach to small time local attainability of smooth manifolds of any dimension, possibly with boundary and to prove H\"older continuity of the minimum time function. We give explicit pointwise conditions of any…

The purpose of this paper is to describe explicitly the solution for linear control systems on Lie groups. In case of linear control systems with inner derivations, the solution is given basically by the product of the exponential of the…

This paper presents a generalization of conventional sliding mode control designs for systems in Euclidean spaces to fully actuated simple mechanical systems whose configuration space is a Lie group for the trajectory-tracking problem. A…