Quotients of Invariant Control Systems

Abstract

In previous work it was shown that if a control system $\mathcal{V}\subset TM$ on manifold $M$ has a control symmetry group $G$ then it very often has group quotients (or symmetry reductions) $\mathcal{V}/G$ which are static feedback linearizable (SFL). This, in turn, can be applied to systematically construct dynamic feedback linearizations of $\mathcal{V}$; or to construct partial feedback linearizations, when no dynamic feedback linearization exists. Because of these and related applications, this paper makes a detailed study of symmetry reduction for control systems. We show that a key property involved in the symmetry reduction of control systems is that of transversality of Lie group actions. Generalizing this notion, we provide an analysis of how the geometry of an invariant distribution, and particularly a control system, is altered as a consequence of symmetry reduction. This provides important information toward understanding the unexpectedly frequent occurrence of SFL quotients. Specifically, we detail how the integrability properties and ranks of various canonical sub-bundles of the quotient object differ from those of the given distribution. As a consequence we are able to classify the SFL quotients of $G$-invariant control systems $\mathcal{V}$ based upon the geometric properties of $\mathcal{V}$ and the action $G$. Additionally, we prove that static feedback linearizability is preserved by symmetry reduction and the well-known Sluis-Gardner-Shadwick (S-G-S) test for the static feedback linearization of control systems is extended to Goursat bundles. A generalized S-G-S test to identify if $\mathcal{V}/G$ is a Goursat bundle is also given, based on the Lie algebra of $G$. Finally, we apply all our results to the well-known PVTOL control system and demonstrate that it may be viewed as an invariant control system on a certain 9-dimensional Lie group.