Symmetries in geometric control theory using Maple

• Autoři: HRDINA Jaroslav; NÁVRAT Aleš; ZALABOVÁ Lenka
• Rok publikování: 2021
• Druh: Článek v odborném periodiku
• Časopis / Zdroj: Mathematics and Computers in Simulation
• Fakulta / Pracoviště MU: Přírodovědecká fakulta
• www: https://doi.org/10.1016/j.matcom.2021.05.034
• Doi: http://dx.doi.org/10.1016/j.matcom.2021.05.034
• Klíčová slova: Geometric control theory; Optimal transport; Sub-Riemannian geometry; Pontryagin's maximum principle; Nilpotent Lie group
• Popis: We focus on the role of symmetries in geometric control theory from the Hamiltonian viewpoint. We demonstrate the power of Ian Anderson's package Differential Geometry in CAS software Maple for dealing with control problems on Lie groups. We apply the tools to the problem of vertical rolling disc, however, anyone can modify our approach and tools to other control problems. (C) 2021 International Association for Mathematics and Computers in Simulation (IMACS). Published by Elsevier B.V. All rights reserved.

Související projekty

• Symetrie a invariance v analýze, geometrickém modelování a teorii optimálního řízení