arXiv subjects

M. Camarinha

Publications and source records attributed to M. Camarinha.

4 recordsLinked to original sources

arXiv2018

A general framework for quantum splines

Quantum splines are curves in a Hilbert space or, equivalently, in the corresponding Hilbert projective space, which generalize the notion of Riemannian cubic splines to the quantum domain. In this paper, we present a generalization of this concept to general density matrices with a Hamiltonian approach and using a geometrical formulation of quantum mechanics. Our main goal is to formulate an optimal control problem for a nonlinear system on the dual of the Lie algebra of the unitary group which corresponds to the variational problem of quantum splines. The corresponding Hamiltonian equations and interpolation conditions are derived. The results are illustrated with some examples and the corresponding quantum splines are computed with the implementation of a suitable iterative algorithm

math-ph↗

arXiv2014

Optimal control of affine connection control systems from the point of view of Lie algebroids

The purpose of this paper is to use the framework of Lie algebroids to study optimal control problems for affine connection control systems on Lie groups. In this context, the equations for critical trajectories of the problem are geometrically characterized as a Hamiltonian vector field.

math.OC↗

arXiv2013

Cubic polynomials on Lie groups: reduction of the Hamiltonian system

This paper analyzes the optimal control problem of cubic polynomials on compact Lie groups from a Hamiltonian point of view and its symmetries. The dynamics of the problem is described by a presymplectic formalism associated with the canonical symplectic form on the cotangent bundle of the semidirect product of the Lie group and its Lie algebra. Using these control geometric tools, the relation between the Hamiltonian approach developed here and the known variational one is analyzed. After making explicit the left trivialized system, we use the technique of Marsden-Weinstein reduction to remove the symmetries of the Hamiltonian system. In view of the reduced dynamics, we are able to guarantee, by means of the Lie-Cartan theorem, the existence of a considerable number of independent integrals of motion in involution.

math.OC↗

arXiv2011

Some applications of quasi-velocities in optimal control

In this paper we study optimal control problems for nonholonomic systems defined on Lie algebroids by using quasi-velocities. We consider both kinematic, i.e. systems whose cost functional depends only on position and velocities, and dynamic optimal control problems, i.e. systems whose cost functional depends also on accelerations. The formulation of the problem directly at the level of Lie algebroids turns out to be the correct framework to explain in detail similar results appeared recently (Maruskin and Bloch, 2007). We also provide several examples to illustrate our construction.

math.OC↗