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The Geometry of Optimal Control Solutions on some Six Dimensional Lie Groups

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2 Author(s)
J. Biggs ; School of System Engineering, University of Reading, Reading RG2, England. Email: j.biggs@rdg.ac.uk ; W. Holderbaum

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 S3and hyperboloids H3with the corresponding frame bundles equal to the Euclidean group of motions SE(3), the rotation group SO(4) and the Lorentz group SO

Published in:

Proceedings of the 44th IEEE Conference on Decision and Control

Date of Conference:

15-15 Dec. 2005