Motivated by the ubiquity of control-affine systems in optimal control theory, we investigate the geometry of point-affine control systems with metric structures in dimensions two and three. We compute local isometric invariants for point-affine distributions of constant type with metric structures for systems with 2 s…
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48 results for “affine control system”
Random features enhance control of complex systems.
problem Flexible nonlinear models for control-affine systems.
method Random features approximations for control-affine structure.
result Methods formalized and shown to relate to ADP and AD kernels.
In this paper, we investigate the existence of a subclass of quotients of affine connection control systems, which preserve the mechanical structures. Both local and global sufficient and necessary conditions are given for the geodesically accessible affine connection control systems such that they can admit this subcl…
We investigate necessary and sufficient conditions under which a general nonlinear affine control system with outputs can be written as a gradient control system corresponding to some pseudo-Riemannian metric defined on the state space. The results rely on a suitable notion of compatibility of the system with respect t…
The paper is devoted to the local classification of generic control-affine systems on an n-dimensional manifold with scalar input for any n>3 or with two inputs for n=4 and n=5, up to state-feedback transformations, preserving the affine structure. First using the Poincare series of moduli numbers we introduce the intr…
In this paper, we put the issue of dynamic equivalence of control systems in the context of pullbacks of coframings on infinite jet bundles over the state manifolds. While much attention has been given to differentially flat systems, i.e. systems dynamically equivalent to linear control systems, the advantage of this a…
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, ran…
Optimal control of affine connection control systems from the point of view of Lie algebroidsmath.OC
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 geometrically characterized as a Hamiltonian vector field.
The aim of this paper is to prove that a control affine system on a manifold is equivalent by diffeomorphism to a linear system on a Lie group or a homogeneous space if and only the vector fields of the system are complete and generate a finite dimensional Lie algebra. A vector field on a connected Lie group is linear …
The paper designs neural networks with assurance for controlling nonlinear systems.
problem Designing neural networks with assurance for nonlinear system control.
method Bounding the number of affine functions needed for a CPWA function, connecting it to a TLL NN architecture.
result The TLL NN architecture is parameterized by the number of affine functions in the CPWA function it realizes.
Paper classifies conic submanifolds in control systems.
problem Characterizing and classifying conic submanifolds in control systems.
method Feedback equivalence of control-affine and fully nonlinear systems.
result Complete description of non-degenerate conic submanifolds.
New NN design for nonlinear systems control with guarantees.
problem Designing NN architectures for nonlinear system control with guarantees.
method Exploits system model to design NN architecture, uses TLL NN for approximation.
result Guaranteed NN architecture sufficient for implementing a controller.
We investigate local configuration controllability for mechanical control systems within the affine connection formalism. Extending the work by Lewis for the single-input case, we are able to characterize local configuration controllability for systems with degrees of freedom and input forces.
The abstract discusses convergent realizations of Lie subalgebras in control theory.
problem Characterizing Lie subalgebras that can be realized as convergent vector fields.
method Generalizations and reformulations of algebraic properties for output realization.
result Recovery and clarification of previous results on control-affine systems and realization of Chen-Fliess series.
We consider in this paper the regularity problem for time-optimal trajectories of a single-input control-affine system on a n-dimensional manifold. We prove that, under generic conditions on the drift and the controlled vector field, any control u associated with an optimal trajectory is smooth out of a countable set o…
Just as an explicit parameterisation of system dynamics by state, i.e., a choice of coordinates, can impede the identification of general structure, so it is too with an explicit parameterisation of system dynamics by control. However, such explicit and fixed parameterisation by control is commonplace in control theory…
A control system is said to be trivializable if there exists local coordinates in which the system is feedback equivalent to a control system of the form . In this paper we characterize trivializable control systems and control systems for which, up to a feedback transformation, a…
Study proves existence of multiple geodesics in a specific metric space.
problem Existence of multiple geodesics in a manifold with a Randers-Kropina metric.
method Lusternik-Schnirelman theory applied to a homotopy type of solutions of an affine control system.
result Proves existence of infinitely many geodesics between two points in a non-contractible manifold.
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 Lagrangian and Hamiltonian systems). In the second part we use the framework of Lie alg…
Clarifies relation for solving control-affine Schrödinger bridge problems.
problem Solving control-affine Schrödinger bridge problems via Hopf-Cole transform.
method Applies Hopf-Cole transform to conditions of optimality, resulting in nonlinear PDEs.
result Generic control-affine Schrödinger bridge requires further algorithmic development.
In this paper, we propose new conditions guaranteeing that the trajectories of a mechanical control system can track any curve on the configuration manifold. We focus on systems that can be represented as forced affine connection control systems and we generalize the sufficient conditions for tracking known in the lite…
Non-bilinear observations make optimal control harder, showing non-convex costs and non-affine optimal controllers.
problem Optimal control from bilinear observations in linear systems is challenging.
method Analytical and numerical methods to study the non-convex cost-to-go and non-affine optimal controllers.
result The Separation Principle does not hold for bilinear observations, leading to non-convex costs and non-affine optimal controllers.
New algorithm solves Schrödinger bridge problem with mismatched channels.
problem Solving Schrödinger bridge problem with input and noise channel mismatch.
method Design of a Sinkhorn recursion with memory for nonlinear PDEs.
result Demonstrates solving control-affine Schrödinger bridge problem.
Nonsmooth High-Order Averaging Theory with Application to Extremum Seeking Optimization and Controlmath.OC
New theory for nonsmooth systems helps optimize and control complex functions.
problem Optimizing and controlling systems with nonsmooth functions.
method Higher-order averaging theory with nonsmooth near-identity transformation and lexicographic differentiation.
result Closed formula for nonsmooth first and second-order averaging.
Unified geometric formulation of Maxwell-Vlasov system using presymplectic and symmetry reduction.
problem Unified geometric formulation of Maxwell-Vlasov system.
method Skinner-Rusk formalism, presymplectic geometry, reduction by diffeomorphism group, affine Hamiltonian controls.
result Unified geometric structure unifying Lagrangian, Hamiltonian, gauge, reduction, and control-theoretic aspects.
The paper tackles data-driven optimal control of unknown nonlinear systems using RKHS.
problem Unknown nonlinear dynamics and stage cost functions.
method Embed state densities into RKHS, learn Markov operators, solve Hamilton-Jacobi-Bellman recursions.
result Solves a wide range of nonlinear control problems, including depth regulation.
Paper develops algorithms for PWA systems with polynomial regret.
problem Learning in piecewise affine systems due to discontinuities.
method Smoothed online learning framework applied to PWA systems.
result First algorithms with polynomial regret in PWA systems.
We discuss homotopy properties of endpoint maps for affine control systems. We prove that these maps are Hurewicz fibrations with respect to some topology on the space of trajectories, for a certain . We study critical points of geometric costs for these affine control systems, proving that if the base m…
The paper studies distributions and controllability in quantum mechanical systems.
problem Controlling quantum mechanical systems and their evolution.
method Analysis of distributions, controllability, and geodesics on sub-Finsler manifolds.
result Proves the Lie group decomposition and geodesics equivalence for quantum system steering.
This work proposes a new method for simultaneous probabilistic identification and control of an observable, fully-actuated mechanical system. Identification is achieved by conditioning stochastic process priors on observations of configurations and noisy estimates of configuration derivatives. In contrast to previous w…
We demonstrate how the novel approach to the local geometry of structures of nonholonomic nature, originated by Andrei Agrachev, works in the following two situations: rank 2 distributions of maximal class in R^n with non-zero generalized Wilczynski invariants and rank 2 distributions of maximal class in R^n with addit…
End-to-end algorithm for controlling bilinear systems with probabilistic noise.
problem Controlling bilinear systems with noisy data.
method Proposes an end-to-end algorithm using statistical learning theory and robust controller design.
result Derived finite sample identification error bounds and structurally suitable for control.
This paper studies a class of continuous-time scalar-state stochastic Linear-Quadratic (LQ) optimal control problem with the linear control constraints. Applying the state separation theorem induced from its special structure, we develop the explicit solution for this class of problem. The revealed optimal control poli…
The symmetric product of vector fields on a manifold arises when one studies the controllability of certain classes of mechanical control systems. A geometric description of the symmetric product is provided using parallel transport, along the lines of the flow interpretation of the Lie bracket. This geometric interpre…
Researchers describe Casimir functions for 3- and 4-step nilpotent Lie groups.
problem Understanding Casimir functions for free nilpotent Lie groups of steps 3 and 4.
method Construction of Casimir functions for free nilpotent Lie groups of steps 3 and 4.
result For 3-step groups, coadjoint orbits are fully described as affine subspaces or direct products of quadrics.
Interpretable meta-learning for physical systems reduces computational costs and improves interpretability.
problem Challenges in learning from heterogeneous experimental data.
method Affine structure learning model for multi-environment generalization.
result Proves the model can identify physical parameters and demonstrates competitive performance.
Investigates mean-variance portfolio selection in non-Markovian markets.
problem Continuous-time Markowitz mean-variance portfolio selection in fake stationary affine Volterra models.
method Stochastic factor solution to a Riccati BSDE, deriving explicit solutions as multi-dimensional Riccati-Volterra equations.
result Analytical closed-form expressions for optimal portfolio policies and mean-variance efficient frontier.
Paper proposes Vertex Networks for reinforcement learning of control systems with safety guarantees.
problem Challenges in reinforcement learning with hard state and action constraints.
method Vertex Networks incorporate safety constraints into policy network architecture, ensuring safety during exploration.
result Proposed Vertex Networks outperform vanilla reinforcement learning in benchmark control tasks.
Study homotopy groups in GIT quotients using transversality methods.
problem Homotopy groups of stable loci in affine GIT.
method Infinite-dimensional transversality framework extended to GIT setting.
result Generic homotopies avoid unstable and strictly semistable strata under certain conditions.
Study of superintegrable systems linked to affine hypersurfaces.
problem Understanding superintegrable systems through geometric structures.
method Established a correspondence between superintegrable systems and affine hypersurfaces, defining conformal equivalence.
result Identified conformal classes of abundant manifolds with abundant hypersurface immersions.
Study focuses on classifying special geometric structures.
problem Classify singular affine structures of integrable systems.
method Classification through simple semitoric systems equivalence.
result Counterexamples exist for multiple pinched fibers.
Safe learning in uncertain systems with state measurements and optimization.
problem Safe learning in nonlinear control-affine systems with unknown additive uncertainty.
method Model uncertainty as Gaussian noise, learn mean and covariance, use optimization to adjust control input.
result Guaranteed safety with arbitrarily large probability while learning and control proceed simultaneously.
New formula for instantaneous frequency in unbalanced systems.
problem Estimating frequency in unbalanced electrical systems.
method Utilizes affine differential geometry to link frequency and voltage derivatives.
result Proposes a new formula for instantaneous frequency estimation.
FineMorphs models smooth transformations for multivariate regression.
problem Efficiently modeling complex transformations for multivariate regression.
method Optimal control of affine and diffeomorphic transformations using smooth vector fields.
result FineMorphs can reduce dimensionality and adapt to large datasets.
A branched affine structure on a compact topological surface with marked points is a complex affine structure outside the marked points. We give a proof of an unpublished foundational theorem of Veech, stating that any branched affine surface can be decomposed into affine triangles and some annulus-shaped cylinders. Th…
Paper tackles stochastic control with mean and higher-order moments, finding Nash equilibria.
problem Time-inconsistent stochastic control problems with mean and higher-order moments.
method Developed closed-loop and open-loop Nash equilibrium controls using PDEs and maximum principles.
result Identical closed-loop and open-loop Nash equilibria controls, independent of state value and random path.
Explicit Solution for Constrained Stochastic Linear-Quadratic Control with Multiplicative Noiseeess.SY
We study in this paper a class of constrained linear-quadratic (LQ) optimal control problem formulations for the scalar-state stochastic system with multiplicative noise, which has various applications, especially in the financial risk management. The linear constraint on both the control and state variables considered…
The paper classifies affine minimal translation surfaces and finds their properties.
problem Classifying and understanding affine minimal translation surfaces.
method Using Weierstrass-Enneper formula and hodographic coordinate system.
result Classification and properties of affine minimal translation surfaces.