01845nas a2200133 4500008004300000245006800043210006700111520142200178100001701600700002101617700001701638700002001655856003601675 2008 en_Ud 00aLimit Time Optimal Syntheses for a control-affine system on S²0 aLimit Time Optimal Syntheses for a controlaffine system on S²3 aFor $\\\\alpha \\\\in ]0,\\\\pi/2[$, let $(\\\\Sigma)_\\\\alpha$ be the control system $\\\\dot{x}=(F+uG)x$, where $x$ belongs to the two-dimensional unit sphere $S^2$, $u\\\\in [-1,1]$, and $F,G$ are $3\\\\times3$ skew-symmetric matrices generating rotations with perpendicular axes and of respective norms $\\\\cos(\\\\alpha)$ and $\\\\sin(\\\\alpha)$. In this paper, we study the time optimal synthesis (TOS) from the north pole $(0,0,1)^T$ associated to $(\\\\Sigma)_\\\\alpha$, as the parameter $\\\\alpha$ tends to zero; this problem is motivated by specific issues in the control of quantum systems. We first prove that the TOS is characterized by a \\\"two-snakes\\\" configuration on the whole $S^2$, except for a neighborhood $U_\\\\alpha$ of the south pole $(0,0,-1)^T$ of diameter at most ${\\\\cal O}(\\\\alpha)$. We next show that, inside $U_\\\\alpha$, the TOS depends on the relationship between $r(\\\\alpha):=\\\\pi/2\\\\alpha-[\\\\pi/2\\\\alpha]$ and $\\\\alpha$. More precisely, we characterize three main relationships by considering sequences $(\\\\alpha_k)_{k\\\\geq 0}$ satisfying (a) $r(\\\\alpha_k)=\\\\bar{r}$, (b) $r(\\\\alpha_k)=C\\\\alpha_k$, and (c) $r(\\\\alpha_k)=0$, where $\\\\bar{r}\\\\in (0,1)$ and $C>0$. In each case, we describe the TOS and provide, after a suitable rescaling, the limiting behavior, as $\\\\alpha$ tends to zero, of the corresponding TOS inside $U_\\\\alpha$.1 aMason, Paolo1 aSalmoni, Rebecca1 aBoscain, Ugo1 aChitour, Yacine uhttp://hdl.handle.net/1963/186201052nas a2200121 4500008004300000245006900043210006900112520065900181100001700840700001700857700002000874856003600894 2006 en_Ud 00aCommon Polynomial Lyapunov Functions for Linear Switched Systems0 aCommon Polynomial Lyapunov Functions for Linear Switched Systems3 aIn this paper, we consider linear switched systems $\\\\dot x(t)=A_{u(t)} x(t)$, $x\\\\in\\\\R^n$, $u\\\\in U$, and the problem of asymptotic stability for arbitrary switching functions, uniform with respect to switching ({\\\\bf UAS} for short). We first prove that, given a {\\\\bf UAS} system, it is always possible to build a common polynomial Lyapunov function. Then our main result is that the degree of that common polynomial Lyapunov function is not uniformly bounded over all the {\\\\bf UAS} systems. This result answers a question raised by Dayawansa and Martin. A generalization to a class of piecewise-polynomial Lyapunov functions is given.1 aMason, Paolo1 aBoscain, Ugo1 aChitour, Yacine uhttp://hdl.handle.net/1963/218101372nas a2200109 4500008004300000245007100043210006800114520100700182100001701189700002001206856003601226 2005 en_Ud 00aTime Optimal Synthesis for Left-Invariant Control Systems on SO(3)0 aTime Optimal Synthesis for LeftInvariant Control Systems on SO33 aConsider the control system given by $\\\\dot x=x(f+ug)$, where $x\\\\in SO(3)$, $|u|\\\\leq 1$ and $f,g\\\\in so(3)$ define two perpendicular left-invariant vector fields normalized so that $\\\\|f\\\\|=\\\\cos(\\\\al)$ and $\\\\|g\\\\|=\\\\sin(\\\\al)$, $\\\\al\\\\in ]0,\\\\pi/4[$. In this paper, we provide an upper bound and a lower bound for $N(\\\\alpha)$, the maximum number of switchings for time-optimal trajectories. More precisely, we show that $N_S(\\\\al)\\\\leq N(\\\\al)\\\\leq N_S(\\\\al)+4$, where $N_S(\\\\al)$ is a suitable integer function of $\\\\al$ which for $\\\\al\\\\to 0$ is of order $\\\\pi/(4\\\\alpha).$ The result is obtained by studying the time optimal synthesis of a projected control problem on $R P^2$, where the projection is defined by an appropriate Hopf fibration. Finally, we study the projected control problem on the unit sphere $S^2$. It exhibits interesting features which will be partly rigorously derived and partially described by numerical simulations.1 aBoscain, Ugo1 aChitour, Yacine uhttp://hdl.handle.net/1963/225800956nas a2200133 4500008004100000245008400041210006900125260000900194520052900203100001700732700001700749700002000766856003600786 2004 en d00aOn the minimal degree of a common Lyapunov function for planar switched systems0 aminimal degree of a common Lyapunov function for planar switched bIEEE3 aIn this paper, we consider linear switched systems x(t) = Au(t)x(t), x ε Rn, u ε U, and the problem of asymptotic stability for arbitrary switching functions, uniform with respect to switching (UAS for short). We first prove that, given a UAS system, it is always possible to build a polynomial common Lyapunov function. Then our main result is that the degree of that the common polynomial Lyapunov function is not uniformly bounded over all the UAS systems. This result answers a question raised by Dayawansa and Martin.1 aMason, Paolo1 aBoscain, Ugo1 aChitour, Yacine uhttp://hdl.handle.net/1963/483400379nas a2200109 4500008004300000245006700043210006700110260001300177100002000190700002300210856003600233 2001 en_Ud 00aControllability for discrete systems with a finite control set0 aControllability for discrete systems with a finite control set bSpringer1 aChitour, Yacine1 aPiccoli, Benedetto uhttp://hdl.handle.net/1963/3114