相关论文: Mechanical control systems on Lie algebroids
In this survey, we present a geometric description of Lagrangian and Hamiltonian Mechanics on Lie algebroids. The flexibility of the Lie algebroid formalism allows us to analyze systems subject to nonholonomic constraints, mechanical…
The paper presents the geometry of Lie algebroids and its applications to optimal control. The first part deals with the theory of Lie algebroids, connections on Lie algebroids and dynamical systems defined on Lie algebroids (mainly…
This paper presents a geometric description on Lie algebroids of Lagrangian systems subject to nonholonomic constraints. The Lie algebroid framework provides a natural generalization of classical tangent bundle geometry. We define the…
In order to obtain a framework in which both non-holonomic mechanical systems and non-holonomic mechanical systems with symmetry can be described, we introduce in this paper the notion of a Lagrangian system on a subbundle of a Lie…
We will study the controllability problem of a bilinear control system on $\mathbb{R}^2:$ the main result is the characterization of the Lie algebra rank condition for the system. On the other hand, using elementary techniques, we recover…
Let H denote the 3-dimensional Heisenberg Lie group. The present paper classify all possible linear control systems on the homogeneous spaces of H through its closed subgroups and expose a detailed study on the control behavior…
In the context of the variational bi-complex, we re-explain that irreducible gauge systems define a particular example of a Lie algebroid. This is used to review some recent and not so recent results on gauge, global and asymptotic…
The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a large class. But since mechanical systems are typically…
Let us consider a linear control system \Sigma on a connected Lie group G. It is known that the accessibility set A from the identity e is in general not a semigroup. In this article we associate a new algebraic object S to \Sigma which…
We extend the notion of connection in order to be able to study singular geometric structures, namely, we consider a notion of connection on a Lie algebroid which is a natural extension of the usual concept of connection. Using connections,…
This paper is devoted to the study of controllability of linear systems on generalized Heisenberg groups. Some general necessary controllability conditions and some sufficient ones are provided. We introduce the notion of decoupled systems,…
This paper presents a geometric description of Lagrangian and Hamiltonian systems on Lie affgebroids subject to affine nonholonomic constraints. We define the notion of nonholonomically constrained system, and characterize regularity…
For homogeneous bilinear control systems, the control sets are characterized using a Lie algebra rank condition for the induced systems on projective space. This is based on a classical Diophantine approximation result. For affine control…
The purpose of this paper is to use the framework of Lie algebroids to study optimal control problems for affine connection control systems on Lie groups. In this context, the equations for critical trajectories of the problem are…
Linear systems on Lie groups are a natural generalization of linear system on Euclidian spaces. For such systems, this paper studies the properties of the maximal sets of approximate controllability.
Bilinear systems emerge in a wide variety of fields as natural models for dynamical systems ranging from robotics to quantum dots. Analyzing controllability of such systems is of fundamental and practical importance, for example, for the…
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…
In this paper, we present a geometric approach for computing controlled invariant sets for hybrid control systems. While the problem is well studied in the ellipsoidal case, this family is quite conservative for constrained or switched…
Problems involving control of large ensmebles of structurally identical dynamical systems, called \emph{ensemble control}, arise in numerous scientific areas from quantum control and robotics to brain medicine. In many of such applications,…
In this paper we explicitly calculate the control sets associated with a linear control system on the two dimensional solvable Lie group. We show that a linear control system of such kind admits exactly one control set or infinite control…