We geometrically describe optimal control problems in terms of Morse families in the Hamiltonian framework. These geometric structures allow us to recover the classical first order necessary conditions for optimality and the starting point to run an integrability algorithm. Moreover the integrability algorithm is adapt…
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48 results for “geometric control condition”
Study shows observability for Schrödinger equations on product manifolds with specific conditions.
problem Observability of Schrödinger equations on product manifolds with product metrics.
method Proof of observability in finite time on open subsets satisfying Vertical Geometric Control Condition, under gap condition on spectrum of F(g).
result Observability on ω for the Schrödinger equation is strictly weaker than Geometric Control Condition on product of spheres.
New method uses geometric mean to avoid non-collapsibility in case-control studies.
problem Non-collapsibility of odds ratio under outcome-dependent sampling.
method Proposes geometric mean aggregation to avoid non-collapsibility and provides estimation and inference methods.
result Geometric odds ratio is collapsible under outcome-dependent sampling.
Geometric framework for dynamic feedback linearization of control systems with symmetry.
problem Dynamic feedback linearization of control systems with symmetry.
method Geometric framework based on Lie symmetry, systematic procedure for all smooth, generic system trajectories.
result Sufficient condition for dynamic feedback linearizability obtained.
Study optimal consumption with relaxed benchmarks and drawdown constraints.
problem Optimal consumption under relaxed benchmark tracking and consumption drawdown constraint.
method Transformed stochastic control problem into regular control problem with state-control constraints, then solved using dual transform and optimal consumption behavior.
result Closed-form solution for optimal investment and consumption in feedback form.
Introduces optimization geometrodynamics for dynamic geometric optimization.
problem Gradient-based optimization methods struggle with changing geometric constraints.
method Optimization geometrodynamics separates invariant and improvable geometric mismatches.
result Dynamic geometric complexity measures the minimum geometric cost to reduce optimization difficulty.
Geometric methods integrate Lie systems for optimal control problems.
problem Integrating Lie systems for optimal control problems.
method Geometric numerical methods based on Magnus expansions and Runge-Kutta-Munthe-Kaas.
result Accurate numerical solutions for Lie systems in optimal control problems.
The paper compares numerical schemes for nonholonomic systems using retraction maps.
problem Optimal control of nonholonomic systems with numerical approximations.
method Retraction maps used as seed for geometric integrators of Hamilton equations.
result Performance comparison of symplectic and non-symplectic integrators.
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…
Study of control problems on Carnot groups with SO(3) symmetry using geometric algebra.
problem Control problems on Carnot groups with SO(3) symmetry.
method Geometric algebra approach to understand geodesics and develop a control algorithm.
result New algorithm for local control developed.
Symmetric Reduction and Hamilton-Jacobi Equations of the Controlled Underwater Vehicle-Rotor Systemmath.SG
In this paper, we first give the regular point reduction and the two types of Hamilton-Jacobi equation for a regular controlled Hamiltonian (RCH) system with symmetry and momentum map on the generalization of a semidirect product Lie group. Next, as an application of the theoretical results, we consider the underwater …
Introduces geometric control theory for students.
problem No specific problem addressed in the abstract.
method Expository presentation of geometric control theory.
result Suitable for advanced students with solid math background.
We extend the Pontryagin Maximum Principle (PMP) to the geometric setting of almost-Lie (AL) algebroids -- objects which generalize Lie algebroids. The result may be understood as a very general reduction scheme for optimal control problems (OCPs). It covers the standard PMP, as well as gives necessary optimality condi…
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 controlled dynamics is given by nonholonomic mechanical system. In our paper, the co…
Pontryagin's Maximum Principle is an outstanding result for solving optimal control problems by means of optimizing a specific function on some particular variables, the so called controls. However, this is not always enough for solving all these problems. A high order maximum principle (Krener, 1977) must be used in o…
The paper proves index theorems for graph-based optimal control problems.
problem Optimal control problems on graphs with constraints.
method Proves Morse index theorems for a broad class of variational problems on graphs.
result Formulas compute the difference of Hessians related to different graphs or boundary conditions.
New Lagrangian approach for optimal control of second-order systems.
problem Optimal control of second-order differential equations derived from force-controlled Lagrangian systems.
method Proposes a new hyperregular control Lagrangian and control Hamiltonian, providing necessary optimality conditions.
result Defines an extended Tulczyjew's triple with controls and studies the relationship between Noether symmetries.
Conformal Surface Splinesmath.DG
New boundary and point constraints for controlling conformal surfaces.
problem Controlling the geometry of surfaces defined by minimizers of conformal variational problems.
method Introducing new boundary conditions, point constraints, and flux constraints to control the metric and conformal scale factor.
result Introduces intuitive controls for exploring a subspace of conformal immersions.
Enhances quantum circuit synthesis using deep learning and geometric methods.
problem Optimizing quantum circuits for time efficiency.
method Combining deep learning with geometric control techniques.
result Improved time-optimal control in quantum circuit synthesis.
Survey of recent developments in symmetric reductions and controls for Hamiltonian systems.
problem Understanding the internal relationships of geometric structures and controls in Hamiltonian systems with symmetry.
method Survey and introduction of recent developments in controlled Hamiltonian systems with symmetry.
result Reveals the relationships between geometric structures, nonholonomic constraints, dynamical vector fields, and controls.
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 study classifies steady Ricci solitons based on geometric conditions.
problem Characterizing steady Ricci solitons under specific geometric constraints.
method Analyzing geometric conditions and applying them to classify solitons.
result Steady Ricci solitons are classified into specific types based on given conditions.
Paper shows geometric frequency and Lagrange derivative equivalence for electric and fluid systems.
problem Understanding and classifying system operating conditions based on electric quantity waveform distortions.
method Demonstrates equivalence between geometric frequency and Lagrange derivative through numerical examples.
result Identifies components of Lagrange derivative that relate to geometric frequency and waveform distortions.
We investigate compactness phenomena involving free boundary minimal hypersurfaces in Riemannian manifolds of dimension less than eight. We provide natural geometric conditions that ensure strong one-sheeted graphical subsequential convergence, discuss the limit behaviour when multi-sheeted convergence happens and deri…
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as a constrained optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a nonholonomic system and the desired reference trajectory, both evolving on the dist…
Bistable structures associated with non-linear deformation behavior, exemplified by the Venus flytrap and slap bracelet, can switch between different functional shapes upon actuation. Despite numerous efforts in modeling such large deformation behavior of shells, the roles of mechanical and nonlinear geometric effects …
We obtain an Euclidean volume growth results for complete Riemannian manifolds satisfying a Euclidean Sobolev inequality and a spectral type condition on the Ricci curvature. We also obtain eigenvalue estimates, heat kernel estimates, Betti number estimates for closed manifolds whose Ricci curvature is controlled in th…
Hamilton-Jacobi Equations of Controlled Magnetic Hamiltonian System with Nonholonomic Constraintmath.SG
Study magnetic Hamiltonian systems with constraints, deriving Hamilton-Jacobi equations.
problem Understanding dynamics of controlled magnetic Hamiltonian systems with constraints.
method Defined CMH system, derived Hamilton-Jacobi equations for different constraints.
result Invariant solutions of Hamilton-Jacobi equations under CMH-equivalence.
We use the methods of geometric control theory to study extremal trajectories of vertical rolling disk. We focus on the role of symmetries of the underlying geometric structures. We demonstrate the computations in the CAS Maple package DifferentialGeometry.
Survey explores geometric aspects of policy optimization in control systems.
problem Understanding the geometric relationships between control design and optimization.
method Geometric perspective on policy optimization, focusing on parameterization and topology.
result Implications of policy geometry on stability and performance of local search algorithms.
Optimizes maps with controlled distortion for geometric tasks.
problem Free-boundary diffeomorphism optimization in geometric modeling.
method Least-squares quasiconformal (LSQC) operator and Spectral Beltrami Network (SBN).
result LSQC minimizer well-posed under mild conditions, stable under mesh refinement.
In this paper we present a geometric control law for position and line-of-sight stabilization of the nonholonomic spherical robot actuated by three independent actuators. A simple configuration error function with an appropriately defined transport map is proposed to extract feedforward and proportional-derivative cont…
Study of 2D Lorentzian anti-de Sitter plane using geometric control theory.
problem Understanding extremal trajectories and reachable set on anti-de Sitter plane.
method Geometric control theory and differential geometry.
result Construction of optimal synthesis and description of Lorentzian distance.
BBVI with STL converges geometrically under perfect specification, with quadratic variance bound.
problem Convergence rate of BBVI with STL estimator.
method Proved geometric convergence rate with quadratic variance bound for BBVI with STL estimator.
result BBVI with STL converges geometrically under perfect variational family specification.
In this paper, we give precisely the geometric constraint conditions of canonical symplectic form and regular reduced symplectic forms for the dynamical vector fields of a regular controlled Hamiltonian (RCH) system and its regular reduced systems, which are called the Type I and Type II of Hamilton-Jacobi equations. A…
Hybrid systems are characterized by having an interaction between continuous dynamics and discrete events. The contribution of this paper is to provide hybrid systems with a novel geometric formulation so that controls can be added. Using this framework we describe some new global controllability tests for hybrid contr…
We present a new geometric unfolding of a prototype problem of optimal control theory, the Mayer problem. This approach is crucially based on the Stokes Theorem and yields to a necessary and sufficient condition that characterizes the optimal solutions, from which the classical Pontryagin Maximum Principle is derived i…
We prove regularity for a class of boundary value problems for first order elliptic systems, with boundary conditions determined by spectral decompositions, under coefficient differentiability conditions weaker than previously known. We establish Fredholm properties for Dirac-type equations with these boundary conditio…
New geometric approach controls motion of a spinning sphere on a plane.
problem Controlling the motion of a spinning sphere on a straight path.
method Geometric-based planning approach using Darboux frame kinematics.
result Iterative algorithm tunes inputs for desired configurations.
We present a generalization of the Simultaneous Long-Short (SLS) trading strategy described in recent control literature wherein we allow for different parameters across the short and long sides of the controller; we refer to this new strategy as Generalized SLS (GSLS). Furthermore, we investigate the conditions under …
A new method evolves point clouds using B-splines for smooth surfaces.
problem Evolution of smooth surfaces from discrete point clouds.
method Adaptive Lagrangian B-spline framework for geometric evolution.
result Efficient and accurate reproduction of surface evolution phenomena.
In this paper, from the viewpoint of completeness of Marsden-Weinstein reduction, we illustrate how to give the definitions of a controlled Hamiltonian (CH) system and a reducible controlled Hamiltonian system with symmetry; and how to describe the dynamics of a CH system and the controlled Hamiltonian equivalence; as …
New approach to control diffusion processes with soft constraints.
problem Finding an optimal diffusion process with a target terminal distribution.
method Generalized Schrödinger bridge problem with soft constraints, solving for a geometric mixture of target and other distributions.
result The terminal distribution of the optimally controlled process is a geometric mixture of the target and another distribution.
Study shows how to learn optimal policies quickly in stochastic control problems.
problem Learning optimal policies in large, continuous state and action spaces with limited data.
method Analyzes three geometric exponents to quantify fast policy regret convergence.
result Shows that fast policy regret convergence is induced by specific geometric structures.
The present paper proposes a unified geometric framework for coordinated motion on Lie groups. It first gives a general problem formulation and analyzes ensuing conditions for coordinated motion. Then, it introduces a precise method to design control laws in fully actuated and underactuated settings with simple integra…
The paper solves a control problem using reflections to track a benchmark process.
problem Optimal consumption with a benchmark process that grows over time.
method Introduced two auxiliary state processes with reflections to transform the problem into a more tractable form.
result Established the existence of a unique classical solution to the dual PDE.
We use neural networks as control variates with geometric integration techniques.
problem Analytic integration of neural network approximations for variance reduction.
method Integration domain subdivision using computational geometry for MLPs with continuous piecewise linear activation functions.
result Neural networks can be used as control variates with geometric integration methods.
Scientific discovery is limited by hypothesis redundancy, and hybrid methods can exploit non-local exploration.
problem Limitation of scientific discovery due to hypothesis redundancy.
method Hybrid discovery systems combining structured local search with LLM-generated non-local proposals.
result Hybrid methods can exploit non-local exploration when three geometric conditions co-occur.