Publication details

Symmetries in geometric control theory using Maple

Authors

HRDINA Jaroslav NÁVRAT Aleš ZALABOVÁ Lenka

Year of publication 2021
Type Article in Periodical
Magazine / Source Mathematics and Computers in Simulation
MU Faculty or unit

Faculty of Science

Citation
Web https://doi.org/10.1016/j.matcom.2021.05.034
Doi http://dx.doi.org/10.1016/j.matcom.2021.05.034
Keywords Geometric control theory; Optimal transport; Sub-Riemannian geometry; Pontryagin's maximum principle; Nilpotent Lie group
Description 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.
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