Control theory from the geometric viewpoint.
attainable setschronological calculuschronological exponentialcurvaturedifferential-geometric methods in controlfeedback linearizationFrobenius theoremL-Q problemlinearizabilitymaximum principlemoving frameoptimal controlrigid bodyrolling bodiessecond-order conditionstime-optimal control
Optimality conditions for problems involving ordinary differential equations (49K15) Vector distributions (subbundles of the tangent bundles) (58A30) Motion of a rigid body in contact with a solid surface (70E18) Nonholonomic systems related to the dynamics of a system of particles (70F25) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Hamilton-Jacobi equations in mechanics (70H20) Research exposition (monographs, survey articles) pertaining to systems and control theory (93-02) Attainable sets, reachability (93B03) Controllability (93B05) Transformations (93B17)
This monograph on geometric control theory, is the new reference text for researchers and graduate students in mathematical control theory who are interested in differential-geometric methods. These methods are particularly useful for control problems formulated on manifolds or on Lie groups, as it happens very often, for instance, in robotics and in quantum control. The book, written by leader experts in the subject, is full of details that are not published elsewhere. It is translated also in Russian. The first chapter is devoted to standard material in differential geometry and control systems. The second chapter presents the chronological calculus, which is a non-standard language developed by Agrachev and Gamkrelidze to deal with flows of ODEs having an explicit dependence on the time. It permits to transform nonlinear objects living on a finite-dimensional manifold (e.g. points, vector fields, flows etc.) into linear operators acting on an infinite dimensional space, namely, the space of smooth functions on the manifold. Chronological calculus, albeit sometimes difficult at a first glance for neophytes, allows to simplify deeply many of the proofs appearing in the remaining of the book and is a very interesting subject in itself. Chapters 3 and 4 deal with linear systems and with state linearizability. Chapters 5,6,7,8 are devoted to the problem of controllability, having as cornerstone the orbit theorem by Hermann-Nagano (analytic case) and Sussmann (smooth case). An application to the rotation of the rigid body is presented in Chapter 6. Chapter 9 is about feedback and state equivalence of control systems. The core of the book lies in the remaining chapters, where Optimal Control is presented. The proof of Pontryagin Maximum Principle has a highly geometrical taste and is written directly for systems on manifolds. Some non-trivial applications (e.g., linear time-optimal problems, linear-quadratic problems, left invariant problems on Lie groups) are also given. One chapter is devoted to the Hamilton-Jacobi equation and to dynamic programming. The last part is mainly original material of the authors and is about second order optimality conditions, Hessian of the end-point mapping, and Jacobi curves. Such material is presented here in an unified setting, which is very useful for researchers in the field. The powerful results obtained in a general framework in these chapters have not been yet exploited to their full extent on specific systems. The topics addressed include: curvature of control systems, reduction of control affine systems to nonlinear systems of smaller dimension, rolling bodies.
- Controllability of the discrete-spectrum Schrödinger equation driven by an external field
- On the stabilization problem for nonholonomic distributions
- Singular arcs in the generalized Goddard's problem
- The intrinsic hypoelliptic Laplacian and its heat kernel on unimodular Lie groups
- Properties of reachable sets in the sub-Lorentzian geometry
- Nonlinear subelliptic equations
- Dissipativity theory for discontinuous dynamical systems: basic input, state, and output properties, and finite-time stability of feedback interconnections
- Geometric approach to Pontryagin's maximum principle
- Control theory on Lie groups
- Generalized solutions for singular optimal control problems
- On curvature and feedback classification of two-dimensional optimal control systems
- Solution to Euler's elastic problem
- Transformations of control systems for the investigation of pulse modes
- Approximate solution of two-point boundary value problems for linear in control systems
- Controllability on the group of diffeomorphisms
- Towards geometrization of control
- Quantum confinement on non-complete Riemannian manifolds
- Solution to the HJB equation for LQR-type problems on compact connected Lie groups
- Geodesics and curvatures of special sub-Riemannian metrics on Lie groups
- Cut locus in the sub-Riemannian problem on Engel group
- Global problems for differential inclusions. Kalman and Vyshnegradskii problems and Chua circuits
- Construction and comparison of multidimensional spectral variational integrators and spectral collocation methods
- Asymptotic analysis and optimal control of an integro-differential system modelling healthy and cancer cells exposed to chemotherapy
- Why are normal sub-Riemannian extremals locally minimizing?
- A support and density theorem for Markovian rough paths
- Non-integrability of the minimum-time Kepler problem
- A drift-free left invariant control system on the Lie group \(\mathrm{SO}(3) \times \mathbb R^3 \times \mathbb R^3\)
- Diameter of the Berger sphere
- Curvature terms in small time heat kernel expansion for a model class of hypoelliptic Hörmander operators
- Hamiltonian coupling of electromagnetic field and matter
- Optimal control of the motion of a helical body in a liquid using rotors
- -convergence of variational functionals with boundary terms in Stein manifolds
- Contact geometry of the Pontryagin maximum principle
- Observers for invariant systems on Lie groups with biased input measurements and homogeneous outputs
- Markov-Dubins path via optimal control theory
- Tracking of lines in spherical images via sub-Riemannian geodesics in \(\mathrm{SO}(3)\)
- On symmetries in time optimal control, sub-Riemannian geometries, and the \(K-P\) problem
- Free time optimization of second-order differential inclusions with endpoint constraints
- Constraint control of nonholonomic mechanical systems
- Geometric optimal control and applications to aerospace
- Second-order recursive filtering on the rigid-motion Lie group \(\mathrm{SE}_3\) based on nonlinear observations
- Second order necessary and sufficient optimality conditions for singular solutions of partially-affine control problems
- A discrete-time Pontryagin maximum principle on matrix Lie groups
- Time-optimal trajectories of generic control-affine systems have at worst iterated Fuller singularities
- Heuristic determination of resolving controls for exact and approximate controllability of nonlinear dynamic systems
- A Bonnet-Myers type theorem for quaternionic contact structures
- Optimal transport over nonlinear systems via infinitesimal generators on graphs
- Strong local optimality for generalized L1 optimal control problems
- A geometric approach for the optimal control of difference inclusions
- Sub-Finsler geodesics on the Cartan group
- Besicovitch covering property on graded groups and applications to measure differentiation
- Quadratic Hamilton-Poisson systems on \(\mathfrak{se}(1,1)^{*}_{-}\): the inhomogeneous case
- On a certain sub-Riemannian geodesic flow on the Heisenberg group
- On the Whitney extension property for continuously differentiable horizontal curves in sub-Riemannian manifolds
- Any sub-Riemannian metric has points of smoothness
- Local geometry of nonregular weighted quasimetric Carnot-Carathéodory spaces
- Local regularity of optimal trajectories for control problems with general boundary conditions
- Revisiting parallel car parking problem
- A short guide through integration theorems of generalized distributions
- Multiple solutions in Euler's elastic problem
- Maxwell strata and cut locus in the sub-Riemannian problem on the Engel group
- Extremal controls in the sub-Riemannian problem on the group of motions of Euclidean space
- Line-of-sight guidance control using video images
- Symmetries and properties of the energy-Casimir mapping in the ball-plate problem
- Optimal paths for variants of the 2D and 3D Reeds-Shepp car with applications in image analysis
- Geometrical and topological methods in optimal control theory
- An algorithm for optimization of cereal output
- Explicit solutions of the \({\mathfrak{a}_1}\)-type Lie-Scheffers system and a general Riccati equation
- Presymplectic high order maximum principle
- An intrinsic formulation of the problem on rolling manifolds
- Almost exponential maps and integrability results for a class of horizontally regular vector fields
- Lipschitz classification of almost-Riemannian distances on compact oriented surfaces
- Rolling of manifolds without spinning
- Optimal control and applications to aerospace: some results and challenges
- Controllability and time optimal control for low Reynolds numbers swimmers
- Rolling manifolds on space forms
- Optimal bacterial resource allocation: metabolite production in continuous bioreactors
- Control sets of linear systems on semi-simple Lie groups
- Integrability of continuous bundles
- Value function for regional control problems via dynamic programming and Pontryagin maximum principle
- The geodesics of a sub-Riemannian metric on the group of semiaffine transformations of the Euclidean plane
- Control problems with differential constraints of higher order
- Abnormal extremals of left-invariant sub-Finsler quasimetrics on four-dimensional Lie groups
- Sets with constant normal in Carnot groups: properties and examples
- Time-extremal navigation in arbitrary winds on conformally flat Riemannian manifolds
- An abnormal set for the \((2,3,5,8)\)-distribution
- Legendre's necessary condition for fractional Bolza functionals with mixed initial/final constraints
- A unifying approach for rolling symmetric spaces
- Approximately controllable finite-dimensional bilinear systems are controllable
- Effective adiabatic control of a decoupled Hamiltonian obtained by rotating wave approximation
- Neighborhood of the second-order singular regime in problems with control in a disk
- Optimal horizontal joinability on the Engel group
- Dual formulation of the lemma on substitution homomorphisms
- Introduction to geometric control. Translated from the Russian
- Optimal strokes for the 4-sphere swimmer at low Reynolds number in the regime of small deformations
- H-type foliations
- Aspects of control theory on infinite-dimensional Lie groups and G-manifolds
- Quasi-shuffle algebras in non-commutative stochastic calculus
- Variational formulas for curves of fixed degree
- Classical and quantum controllability of a rotating asymmetric molecule
This page was built for publication: Control theory from the geometric viewpoint.
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q1883272)
