Modeling and passivity analysis of nonholonomic Hamiltonian systems with rheonomous affine constraints

This paper is devoted to modeling and theoretical analysis of Hamiltonian systems subject to nonholonomic rheonomous affine constraints. We first define rheonomous affine constraints and explain geometric representation of them. Next, a complete nonholonomicity condition for the rheonomous affine constraints is developed in terms of the rheonomous bracket. Then, the nonholonomic Hamiltonian system with rheonomous affine constraints (NHSRAC) is derived via a transformation and model reduction for the expanded Hamiltonian system defined on the expanded phase space. After that, we investigate passivity of the NHSRAC with the control input term and the output equation. Finally, in order to confirm the application potentiality of our new results, we show an example, a radius-variable ball on rotating table with a time-varying angular velocity.     

<Emphasis Type="Italic">A</Emphasis>-Orbital Linearization of Affine Systems

The problem of transformation of an affine system into a linear controllable system is considered. For affine systems with a single control, the notion of A-orbital linearizability is introduced, which generalizes the notion (well known for affine systems) of orbital linearizability to the case where the control-dependent changes of independent variable are used. A necessary and sufficient condition for the A-orbital linearizability is proved, and an algorithm for determining linearizable transformations is proposed based on the construction of the derived series of the codistribution associated with the original system.     

Computations via Newtonian and relativistic kinematic systems

We are developing a rigorous methodology to analyse experimental computation, by which we mean the idea of computing a set or function by experimenting with some physical equipment. Here we consider experimental computation by kinematic systems under both Newtonian and relativistic kinematics. An experimental procedure, expressed in a language similar to imperative programming languages, is applied to equipment, having the form of a bagatelle, and is interpreted using the two theories. We prove that for any set A of natural numbers there exists a two-dimensional kinematic system B_A with a single particle P whose observable behaviour decides n∈A for all n∈N. The procedure can operate under (a) Newtonian mechanics or (b) relativistic mechanics. The proofs show how any information (coded by some A) can be embedded in the structure of a simple kinematic system and retrieved by simple observations of its behaviour. We reflect on the methodology, which seeks a formal theory for performing abstract experiments with physical restrictions on the construction of systems. We conclude with some open problems.     

Robust tube-based MPC of constrained piecewise affine systems with bounded additive disturbances

In this article, we propose a robust tube-based MPC formulation for a class of hybrid systems, namely autonomously switched PWA systems, with bounded additive disturbances. The term tube-based refers to those control techniques whose objective is to maintain all possible trajectories of the uncertain system inside a tube which is a set around the nominal (or reference) system trajectory, that is free from disturbances. Common methods in tube-based control systems consider an error dynamical system as the difference between the state of the nominal system and the state of the perturbed system. However, this definition of the error dynamical system leads to a complicated switched affine system for PWA systems. Therefore, we use a new notion of the reference system similar to the nominal system except that the switching between the various modes of the PWA system is driven by the state of the real system. Using this reference system instead of the nominal system leads us to an error dynamical system that can be modeled as a switched linear system. We employ a switched linear controller to stabilize this error system under arbitrary switching. This auxiliary controller forces the states of the uncertain system to remain in a tube confined to the invariant set around the state of the reference system. We add new constraints and tighten some other constraints of the nominal hybrid MPC for the reference system, in order to ensure convergence of the uncertain system and to guarantee robust exponential stability of the closed-loop system.     

Maximum properties of affine minimal hypersurfaces

It is shown that the sign of the second variation of locally strongly convex affine minimal hypersurfaces in affine space A ⁿ for n ≥ 4 can not be determined by a suitable reduction to a sum of squares as was done for n = 3 in [3]. Also we prove that strictly stable locally strongly convex affine minimal hypersurfaces are a relative weak maximum of the affine area functional, and give an affine version of the Morse-Smale index theorem [16].     

Invariants of Conformai and Projective Structures

While in Euclidean, equiaffine or centroaffine differential geometry there exists a unique, distinguished normalization of a regular hypersurface immersion x: M ⁿ → Aⁿ⁺¹, in the geometry of the general affine transformation group, there only exists a distinguished class of such normalizations, the class of relative normalizations. Thus, the appropriate invariants for speaking about affine hypersurfaces are invariants of the induced classes, e.g. the conformai class of induced metrics and the projective class of induced conormal connections. The aim of this paper is to study such invariants. As an application, we reformulate the fundamental theorem of affine differential geometry.     

Reachable sets for contact sub-Lorentzian structures on {\mathbb{R}^3} . Application to control affine systems on {\mathbb{R}^3} with a scalar input

In this paper, we investigate the structure of reachable sets for general contact sub-Lorentzian metrics on $ {\mathbb{R}^3} $ . In some particular cases, the presented method leads to explicit formulas for functions describing reachable sets. We also compute the image under exponential mapping and prove that the sub-Lorentzian distance is continuous for the mentioned structures. All presented results concerning reachable sets can be directly applied to generic control affine systems in $ {\mathbb{R}^3} $ with a scalar input u and constraints |u|??????.     

Direct Unions of Lie Tori (Realization of Locally Extended Affine Lie Algebras)

In this work, we consider realizations of locally extended affine Lie algebras, in the level of core modulo center. We provide a framework similar to the one for extended affine Lie algebras by “direct unions.” Our approach suggests that the direct union of existing realizations of extended affine Lie algebras, in a rigorous mathematical sense, would lead to a complete realization of locally extended affine Lie algebras, in the level of core modulo center. As an application of our results, we realize centerless cores of locally extended affine Lie algebras with specific root systems of types A₁, B, C, and BC.     

A class of affinely equivalent Voronoi parallelohedra

Given any parallelohedron P, its affine class A (P), i.e., the set of all parallelohedra affinely equivalent to it, is considered. Does this affine class contain at least one Voronoi parallelohedron, i.e., a parallelohedron which is a Dirichlet domain for some lattice? This question, more commonly known as Voronoi’s conjecture, has remained unanswered for more than a hundred years. It is shown that, in the case where the subset of Voronoi parallelohedra in A (P) is nonempty, this subset is an orbifold, and its dimension (as a real manifold with singularities) is completely determined by its combinatorial type; namely, it is equal to the number of connected components of the so-called Venkov subgraph of the given parallelohedron. Nevertheless, the structure of this orbifold depends not only on the combinatorial properties of the parallelohedron but also on its affine properties.     

Equivariant Degenerations of Spherical Modules: Part II

We determine, under a certain assumption, the Alexeev–Brion moduli scheme M of affine spherical G-varieties with a prescribed weight monoid . In Papadakis and Van Steirteghem (Ann. Inst. Fourier (Grenoble). 62(5) 1765–1809 19) we showed that if G is a connected complex reductive group of type A and is the weight monoid of a spherical G-module, then M is an affine space. Here we prove that this remains true without any restriction on the type of G.     

Two incidence propositions in chain geometries

The significance of the incidence propositions (Z) and (B) for chain geometries Σ(F, A, J) is determined. In preparation the structure of kinematic and nearquadratic Jordan systems is studied.     

Lipscomb’s L(A) Space Fractalized in l p (A)

In this paper, by using some of our new results concerning the shift space for an infinite IFS (see A. Mihail and R. Miculescu, The shift space for an infinite iterated function system, Math. Rep. Bucur. 11 (2009), 21?C32), we show that, for an infinite set A, the embedded version of the Lipscomb space L(A) in l ^p (A), ${p \in [1,\infty)}$ , with the metric induced from l ^p (A), denoted by ${\omega_p^A}$ , is the attractor of an infinite iterated function system comprising affine transformations of l ^p (A). In this way we provide a generalization of the positive answer that we gave to an open problem of J.C. Perry (see Lipscomb??s universal space is the attractor of an infinite iterated function system, Proc. Amer. Math. Soc. 124 (1996), 2479?C2489) in one of our previous works (see R. Miculescu and A. Mihail, Lipscomb space ?? ^A is the attractor of an infinite IFS containing affine transformations of l ²(A), Proc. Amer. Math. Soc. 136 (2008), 587?C592). Moreover, as a byproduct, we provide a generalization of Corollary 15 from Perry??s paper by proving that ${\omega_p^A}$ is a closed subset of l ^p (A).     

Hochschild Cohomology of Deformation Quantizations over ℤ/<Emphasis Type="Italic">p</Emphasis><Superscript><Emphasis Type="Italic">n</Emphasis></Superscript>ℤ

Let A ₁ be an Azumaya algebra over a smooth affine symplectic variety X over Spec F _p , where p is an odd prime. Let A be a deformation quantization of A ₁ over the p-adic integers. In this note we show that for all n ≥ 1, the Hochschild cohomology of A/p ⁿ A is isomorphic to the de Rham-Witt complex \(W_{n}{\Omega }^{\ast }_{X}\) of X over \(\mathbb {Z}/p^{n}\mathbb {Z}\). We also compute the center of deformations of certain affine Poisson varieties over F _p .     

Computation of Affine Covariants of Quadratic Bivariate Differential Systems

This paper deals with affine covariants of autonomous differential systems. The main result is the construction of a minimal system of generators of the algebra of affine covariants of quadratic bivariate differential systems which is helpful in qualitative and numerical study. To this end, we establish a theorem (true for general systems of dimension n and degree m) which provides a procedure of construction of systems of generators for affine covariants from those of center-affine invariants. After applying this theorem to the case n=m=2 we give the expansions of the obtained affine covariants in terms of center-affine covariants. All algorithms constitute the package SIB.     

Stability of the Graph of a Convex Function

Let x: M → A ⁿ⁺¹ be the graph of some strongly convex function x ⁿ+1= ?( x₁,…,x_n) defined on a domain Ω ? A ⁿ in a real affine space. We consider the relative metric G, defined by $ G=\sum{\partial^{2}f\over\partial x_{i}\partial x_{j}}dx_{i}dx_{j}$ .In this paper, we calculate the second variation of the area integral with respect to the relative metric G. We prove that the parabolic affine hyperspheres are stable.     

Spectral inequalities for non-selfadjoint elliptic operators and application to the null-controllability of parabolic systems

We consider elliptic operators A on a bounded domain, that are compact perturbations of a selfadjoint operator. We first recall some spectral properties of such operators: localization of the spectrum and resolvent estimates. We then derive a spectral inequality that measures the norm of finite sums of root vectors of A through an observation, with an exponential cost. Following the strategy of Lebeau and Robbiano (1995) [25], we deduce the construction of a control for the non-selfadjoint parabolic problem t_∂u+Au=Bg. In particular, the L² norm of the control that achieves the extinction of the lower modes of A is estimated. Examples and applications are provided for systems of weakly coupled parabolic equations and for the measurement of the level sets of finite sums of root functions of A.     

Controllability of Affine Control Systems on Lie Groups

In this paper, we deal with the controllability problem of affine control systems on several Lie groups. For this kind of class of control systems, we establish controllability results and give in a list of affine control systems on different Lie groups.

     

Cell Decompositions of Quiver Flag Varieties for Nilpotent Representations of the Cyclic Quiver

Generalizing Schubert cells in type A and a cell decomposition of Springer fibres in type A found by L. Fresse we prove that varieties of complete flags in nilpotent representations of a cyclic quiver admit an affine cell decomposition parametrized by multi-tableaux. We show that they carry a torus operation with finitely many fixpoints. As an application of the cell decomposition we obtain a vector space basis of certain modules (for quiver Hecke algebras of nilpotent representations of this quiver), similar modules have been studied by Kato as analogues of standard modules.     

The Nodal Cubic is a Quantum Homogeneous Space

The cusp was recently shown to admit the structure of a quantum homogeneous space, that is, its coordinate ring B can be embedded as a right coideal subalgebra into a Hopf algebra A such that A is faithfully flat as a B-module. In the present article such a Hopf algebra A is constructed for the coordinate ring B of the nodal cubic, thus further motivating the question which affine varieties are quantum homogeneous spaces.