相关论文: Mechanical control systems on Lie algebroids
We introduce and study a class of Lie algebroids associated to faithful modules which is motivated by the notion of cotangent Lie algebroids of Poisson manifolds. We also give a classification of transitive Lie algebroids and describe…
This paper studies the construction of geometric integrators for nonholonomic systems. We derive the nonholonomic discrete Euler-Lagrange equations in a setting which permits to deduce geometric integrators for continuous nonholonomic…
In this paper, we characterize the accessibility of discrete-time linear control systems on Lie groups. Using an exceptional notion of derivative, we construct a subalgebra $\mathfrak{h}$ based on the infinitesimal automorphism of the…
For nonautonomous control systems with compact control range, associated control flows are introduced. This leads to several skew product flows with various base spaces. The controllability and chain controllability properties are studied…
We study the dynamics of systems on networks from a linear algebraic perspective. The control theoretic concept of controllability describes the set of states that can be reached for these systems. Under appropriate conditions, there is a…
We present a systematic study of symmetries, invariants and moduli spaces of classes of coframes. We introduce a classifying Lie algebroid to give a complete description of the solution to Cartan's realization problem that applies to both…
In quantum control theory, the fundamental issue of controllability covers the questions whether and under which conditions a system can be steered from one pure state into another by suitably tuned time evolution operators. Even though Lie…
In this paper we show how connections and their generalizations on transitive Lie algebroids are related to the notion of connections in the framework of the derivation-based noncommutative geometry. In order to compare the two…
Discrete control systems, as considered here, refer to the control theory of discrete-time Lagrangian or Hamiltonian systems. These discrete-time models are based on a discrete variational principle, and are part of the broader field of…
The usefulness in control theory of the geometric theory of motion on Lie groups and homogeneous spaces will be shown. We quickly review some recent results concerning two methods to deal with these systems, namely, a generalization of the…
This article describes the control behavior of any linear control systems on the group of proper motions $SE(2)$. It characterizes the controllability property and the control sets of the system.
Lie algebroids provide a natural medium to discuss classical systems, however, quantum systems have not been considered. In aim of this paper is to attempt to rectify this situation. Lie algebroids are reviewed and their use in classical…
In this paper, we consider a generalization of variational calculus which allows us to consider in the same framework different cases of mechanical systems, for instance, Lagrangian mechanics, Hamiltonian mechanics, systems subjected to…
In this paper, we discuss our recent works on the null-controllability, the exact controllability, and the stabilization of linear hyperbolic systems in one dimensional space using boundary controls on one side for the optimal time. Under…
We apply the method of controlled Lagrangians by potential shaping to Euler--Poincar\'e mechanical systems with broken symmetry. We assume that the configuration space is a general semidirect product Lie group $\mathsf{G} \ltimes V$ with a…
In this paper we introduce the notion of orbit equivalence for semigroup actions and the concept of generalized linear control system on smooth manifold. The main goal is to prove that, under certain conditions, the semigroup system of a…
Motivated by the controllability/reachability problems for switched linear control systems and some classes of nonlinear (mechanical) control systems we address a related problem of existence of a cyclic vector for an associative (matrix)…
The Lie product and the order relation are viewed as defining structures for Hamiltonian dynamical systems. Their admissible combinations are singled out by the requirement that the group of the Lie automorphisms be contained in the group…
On the base of Lie algebraic and differential geometry methods, a wide class of multidimensional nonlinear integrable systems is obtained, and the integration scheme for such equations is proposed.
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…