Geometry of control-affine systems

DOI10.3842/SIGMA.2009.095zbMATH Open1192.58003arXiv0903.4932WikidataQ63560999 ScholiaQ63560999MaRDI QIDQ970283FDOQ970283

George R. Wilkens, Christopher G. Moseley, Jeanne N. Clelland

Publication date: 17 May 2010

Published in: SIGMA. Symmetry, Integrability and Geometry: Methods and Applications (Search for Journal in Brave)

Abstract: Motivated by control-affine systems in optimal control theory, we introduce the notion of a point-affine distribution on a manifold X - i.e., an affine distribution F together with a distinguished vector field contained in F. We compute local invariants for point-affine distributions of constant type when dim(X)=n, rank(F)=n-1, and when dim(X)=3, rank(F)=1. Unlike linear distributions, which are characterized by integer-valued invariants - namely, the rank and growth vector - when dim(X)<=4, we find local invariants depending on arbitrary functions even for rank 1 point-affine distributions on manifolds of dimension 2.

Full work available at URL: https://arxiv.org/abs/0903.4932

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zbMATH Keywords

control theoryexterior differential systemsaffine distributionsCartan's method of equivalence

Mathematics Subject Classification ID

(G)-structures (53C10) Sub-Riemannian geometry (53C17) Exterior differential systems (Cartan theory) (58A15) Vector distributions (subbundles of the tangent bundles) (58A30)

Cited In (11)

• Affine distributions on a four-dimensional extension of the semi-Euclidean group
• Invariant Control Systems on Lie Groups
• Title not available (Why is that?)
• Geometric structure of single/combined equivalence classes of a controllable pair
• Control systems on nilpotent Lie groups of dimension \(\leq 4\): equivalence and classification
• Title not available (Why is that?)
• Singular velocities of even-rank affine distributions
• Title not available (Why is that?)
• Geometric classification of monogenic subspaces and uniparametric linear control systems
• Title not available (Why is that?)
• Towards geometrization of control

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