The geometry of optimal control solutions on some six dimensional lie groups

This paper examines optimal solutions of control systems with drift defined on the orthonormal frame bundle of particular Riemannian manifolds of constant curvature. The manifolds considered here are the space forms Euclidean space E-3, the spheres S-3 and the hyperboloids H-3 with the corresponding frame bundles equal to the Euclidean group of motions SE(3), the rotation group SO(4) and the Lorentz group SO(1,3). The optimal controls of these systems are solved explicitly in terms of elliptic functions. In this paper, a geometric interpretation of the extremal solutions is given with particular emphasis to a singularity in the explicit solutions. Using a reduced form of the Casimir functions the geometry of these solutions are illustrated.

Integrating Hamiltonian systems defined on the Lie groups SO(4) and SO(1,3)

This paper examines optimal solutions of control systems with drift defined on the orthonormal frame bundle of particular Riemannian manifolds of constant curvature. The manifolds considered here are the space forms Euclidean space E³, the spheres S³ and the hyperboloids H³ with the corresponding frame bundles equal to the Euclidean group of motions SE(3), the rotation group SO(4) and the Lorentz group SO(1,3). The optimal controls of these systems are solved explicitly in terms of elliptic functions. In this paper, a geometric interpretation of the extremal solutions is given with particular emphasis to a singularity in the explicit solutions. Using a reduced form of the Casimir functions the geometry of these solutions is illustrated.

Integrable Hamiltonian systems defined on the Lie groups SO(3) and SU(2): an application to the attitude control of a spacecraft

This paper considers left-invariant control systems defined on the Lie groups SU(2) and SO(3). Such systems have a number of applications in both classical and quantum control problems. The purpose of this paper is two-fold. Firstly, the optimal control problem for a system varying on these Lie Groups, with cost that is quadratic in control is lifted to their Hamiltonian vector fields through the Maximum principle of optimal control and explicitly solved. Secondly, the control systems are integrated down to the level of the group to give the solutions for the optimal paths corresponding to the optimal controls. In addition it is shown here that integrating these equations on the Lie algebra su(2) gives simpler solutions than when these are integrated on the Lie algebra so(3).

Singularities of optimal control problems on some 6-D lie groups

This paper considers the motion planning problem for oriented vehicles travelling at unit speed in a 3-D space. A Lie group formulation arises naturally and the vehicles are modeled as kinematic control systems with drift defined on the orthonormal frame bundles of particular Riemannian manifolds, specifically, the 3-D space forms Euclidean space E-3, the sphere S-3, and the hyperboloid H'. The corresponding frame bundles are equal to the Euclidean group of motions SE(3), the rotation group SO(4), and the Lorentz group SO (1, 3). The maximum principle of optimal control shifts the emphasis for these systems to the associated Hamiltonian formalism. For an integrable case, the extremal curves are explicitly expressed in terms of elliptic functions. In this paper, a study at the singularities of the extremal curves are given, which correspond to critical points of these elliptic functions. The extremal curves are characterized as the intersections of invariant surfaces and are illustrated graphically at the singular points. It. is then shown that the projections, of the extremals onto the base space, called elastica, at these singular points, are curves of constant curvature and torsion, which in turn implies that the oriented vehicles trace helices.

Casimirs and Lax operators from the structure of Lie algebras

This paper uses the structure of the Lie algebras to identify the Casimir invariant functions and Lax operators for matrix Lie groups. A novel mapping is found from the cotangent space to the dual Lie algebra which enables Lax operators to be found. The coordinate equations of motion are given in terms of the structure constants and the Hamiltonian.

Twisted conjugacy classes in nilpotent groups

A group is said to have the R(infinity) property if every automorphism has an infinite number of twisted conjugacy classes. We study the question whether G has the R(infinity) property when G is a finitely generated torsion-free nilpotent group. As a consequence, we show that for every positive integer n >= 5, there is a compact nilmanifold of dimension n on which every homeomorphism is isotopic to a fixed point free homeomorphism. As a by-product, we give a purely group theoretic proof that the free group on two generators has the R(infinity) property. The R(infinity) property for virtually abelian and for C-nilpotent groups are also discussed.

COMMUTATIVE FINITE-DIMENSIONAL ALGEBRAS SATISFYING x(x(xy))=0 ARE NILPOTENT

We investigate the structure of commutative non-associative algebras satisfying the identity x(x(xy)) = 0. Recently, Correa and Hentzel proved that every commutative algebra satisfying above identity over a field of characteristic not equal 2 is solvable. We prove that every commutative finite-dimensional algebra u over a field F of characteristic not equal 2, 3 which satisfies the identity x(x(xy)) = 0 is nilpotent. Furthermore, we obtain new identities and properties for this class of algebras.

Lie algebra methods for the applications to the statistical theory of turbulence

Approximate Lie symmetries of the Navier-Stokes equations are used for the applications to scaling phenomenon arising in turbulence. In particular, we show that the Lie symmetries of the Euler equations are inherited by the Navier-Stokes equations in the form of approximate symmetries that allows to involve the Reynolds number dependence into scaling laws. Moreover, the optimal systems of all finite-dimensional Lie subalgebras of the approximate symmetry transformations of the Navier-Stokes are constructed. We show how the scaling groups obtained can be used to introduce the Reynolds number dependence into scaling laws explicitly for stationary parallel turbulent shear flows. This is demonstrated in the framework of a new approach to derive scaling laws based on symmetry analysis [11]-[13].

TAUT REPRESENTATIONS OF COMPACT SIMPLE LIE GROUPS

The concept of taut submanifold of Euclidean space is due to Carter and West, and can be traced back to the work of Chern and Lashof on immersions with minimal total absolute curvature and the subsequent reformulation of that work by Kuiper in terms of critical point theory. In this paper, we classify the reducible representations of compact simple Lie groups, all of whose orbits are tautly embedded in Euclidean space, with respect to Z(2)-coefficients.

On E-functions of semisimple Lie groups

We develop and describe continuous and discrete transforms of class functions on a compact semisimple, but not simple, Lie group G as their expansions into series of special functions that are invariant under the action of the even subgroup of the Weyl group of G. We distinguish two cases of even Weyl groups-one is the direct product of even Weyl groups of simple components of G and the second is the full even Weyl group of G. The problem is rather simple in two dimensions. It is much richer in dimensions greater than two-we describe in detail E-transforms of semisimple Lie groups of rank 3.

Some examples of nil Lie algebras

Generalizing Petrogradsky`s construction, we give examples of infinite-dimensional nil Lie algebras of finite Gelfand-Kirillov dimension over any field of positive characteristic.

Filtered Multiplicative Bases of Restricted Enveloping Algebras

We study the problem of the existence of filtered multiplicative bases of a restricted enveloping algebra u(L), where L is a finite-dimensional and p-nilpotent restricted Lie algebra over a field of positive characteristic p.

ON SPECIALITY OF BINARY-LIE ALGEBRAS

In the present work, binary-Lie, assocyclic, and binary (-1,1) algebras are studied. We prove that, for every assocyclic algebra A, the algebra A(-) is binary-Lie. We find a simple non-Malcev binary-Lie superalgebra T that cannot be embedded in A(-s) for an assocyclic superalgebra A. We use the Grassmann envelope of T to prove the similar result for algebras. This solve negatively a problem by Filippov (see [1, Problem 2.108]). Finally, we prove that the superalgebra T is isomorphic to the commutator superalgebra A(-s) for a simple binary (-1,1) superalgebra A.

Locally nilpotent groups of units in tiled rings

We consider locally nilpotent subgroups of units in basic tiled rings A, over local rings O which satisfy a weak commutativity condition. Tiled rings are generalizations of both tiled orders and incidence rings. If, in addition, O is Artinian then we give a complete description of the maximal locally nilpotent subgroups of the unit group of A up to conjugacy. All of them are both nilpotent and maximal Engel. This generalizes our description of such subgroups of upper-triangular matrices over O given in M. Dokuchaev, V. Kirichenko, and C. Polcino Milies (2005) [3]. (C) 2010 Elsevier Inc. All rights reserved.

Nil graded self-similar algebras

In [19], [24] we introduced a family of self-similar nil Lie algebras L over fields of prime characteristic p > 0 whose properties resemble those of Grigorchuk and Gupta-Sidki groups. The Lie algebra L is generated by two derivations v(1) = partial derivative(1) + t(0)(p-1) (partial derivative(2) + t(1)(p-1) (partial derivative(3) + t(2)(p-1) (partial derivative(4) + t(3)(p-1) (partial derivative(5) + t(4)(p-1) (partial derivative(6) + ...))))), v(2) = partial derivative(2) + t(1)(p-1) (partial derivative(3) + t(2)(p-1) (partial derivative(4) + t(3)(p-1) (partial derivative(5) + t(4)(p-1) (partial derivative(6) + ...)))) of the truncated polynomial ring K[t(i), i is an element of N vertical bar t(j)(p) =0, i is an element of N] in countably many variables. The associative algebra A generated by v(1), v(2) is equipped with a natural Z circle plus Z-gradation. In this paper we show that for p, which is not representable as p = m(2) + m + 1, m is an element of Z, the algebra A is graded nil and can be represented as a sum of two locally nilpotent subalgebras. L. Bartholdi [3] andYa. S. Krylyuk [15] proved that for p = m(2) + m + 1 the algebra A is not graded nil. However, we show that the second family of self-similar Lie algebras introduced in [24] and their associative hulls are always Z(p)-graded, graded nil, and are sums of two locally nilpotent subalgebras.