Leader-following Synchronization Control of Multiple Electrohydraulic Actuators Under Switching Network Topologies

A leader-following quasi-synchronization control is proposed in multiple electrohydraulic actuators (MEHAs) under different switching network topologies to guarantee the follower electrohydraulic actuators (EHAs) tracking the leader motion. Firstly, each electro-hydraulic actuator (EHA) has a 3-order nonlinear dynamics with unknown external load. Then by using Lie derivative technique, the MEHAs nonlinear models with $n+1$ nodes are feedback linearized for convenient control design. Furthermore, the leader node is constructed as a virtual simulation model to be stabilized by PI controller. Meanwhile, a quasi-synchronized controller together with a disturbance observer is designed by LMI and Lyapunov techniques to guarantee that the synchronization errors between the n follower nodes and the leader node 0 are uniformly ultimate boundaries. Finally, the effectiveness of the leader-following quasi-synchronized controller is verified by a MEHAs experimental bench with 3 EHAs under switching network topologies.

Curvature

The mathematics of Riemannian curvature is presented. The Riemann curvature tensor and its role in parallel transport, in the metric, and in geodesic deviation are expounded at length. We begin by defining the curvature tensor and the torsion tensor by relating them to covariant derivatives. Then the local metric is obtained up to second order in terms of Minkowski metric and curvature tensor. Geometric issues such as the closure or non-closure of parallelograms are discussed. Next, the relation between curvature and parallel transport around a loop is derived. Then we proceed to geodesic deviation. The influence of global properties of the manifold on parallel transport is briefly expounded. The Lie derivative is then defined, and isometries of spacetime are discussed. Killing’s equation and properties of Killing vectors are obtained. Finally, the Weyl tensor (conformal tensor) is introduced.

The structure of the curvature tensor of plane gravitational waves

Plane gravitational waves in the Riemann space of General Relativity is considered. The criterion of plane gravitational waves is used based on the analogy between plane gravitational and electromagnetic waves. The Theorem is proved that the action of the Lie derivative on the plane wave curvature 2-form in the direction of the vector generating the invariance group of this wave in the Riemann space is equal to zero. It is justified that the gravitational waves can be used to transmit information in the Riemann space.

Modified general relativity and quantum theory in curved spacetime

With appropriate modifications, the multi-spin Klein–Gordon (KG) equation of quantum field theory can be adapted to curved space–time for spins 0, 1, 1/2. The associated particles in the microworld then move as a wave at all space–time coordinates. From the existence in a Lorentzian space–time of a line element field [Formula: see text], the spin-1 KG equation [Formula: see text] is derived from an action functional involving [Formula: see text] and its covariant derivative. The spin-0 KG equation and the KG equation of the outer product of a spin-1/2 Dirac spinor and its Hermitian conjugate are then constructed. Thus, [Formula: see text] acts as a fundamental quantum vector field. The symmetric part of the spin-1 KG equation, [Formula: see text], is the Lie derivative of the metric. That links the multi-spin KG equation to Modified General Relativity (MGR) through its energy–momentum tensor of the gravitational field. From the invariance of the action functionals under the diffeomorphism group Diff(M), which is not restricted to the Lorentz group, [Formula: see text] can instantaneously transmit information along [Formula: see text]. That establishes the concept of entanglement within a Lorentzian formalism. The respective local/nonlocal characteristics of MGR and quantum theory no longer present an insurmountable problem to unify the theories.

Lie Derivatives of the Shape Operator of a Real Hypersurface in a Complex Projective Space

We consider real hypersurfaces M in complex projective space equipped with both the Levi-Civita and generalized Tanaka–Webster connections. Associated with the generalized Tanaka–Webster connection we can define a differential operator of first order. For any nonnull real number k and any symmetric tensor field of type (1,1) B on M, we can define a tensor field of type (1,2) on M, $$B^{(k)}_T$$ B T ( k ) , related to Lie derivative and such a differential operator. We study symmetry and skew symmetry of the tensor $$A^{(k)}_T$$ A T ( k ) associated with the shape operator A of M.

Jacobi-Lie T-plurality

We propose a Leibniz algebra, to be called DD^++, which is a generalization of the Drinfel’d double. We find that there is a one-to-one correspondence between a DD^++ and a Jacobi–Lie bialgebra, extending the known correspondence between a Lie bialgebra and a Drinfel’d double. We then construct generalized frame fields E_A{}^M\in\text{O}(D,D)\times\mathbb{R}^+EAM∈O(D,D)×ℝ+ satisfying the algebra \hat{\pounds}_{E_A}E_B = - X_{AB}{}^C\,E_C£̂EAEB=−XABCEC, where X_{AB}{}^CXABC are the structure constants of the DD^++ and \hat{\pounds}£̂ is the generalized Lie derivative in double field theory. Using the generalized frame fields, we propose the Jacobi–Lie TT-plurality and show that it is a symmetry of double field theory. We present several examples of the Jacobi–Lie TT-plurality with or without Ramond–Ramond fields and the spectator fields.

Interior product, Lie derivative and Wilson line in the KBc subsector of open string field theory

The open string field theory of Witten (SFT) has a close formal similarity with Chern-Simons theory in three dimensions. This similarity is due to the fact that the former theory has concepts corresponding to forms, exterior derivative, wedge product and integration over the manifold. In this paper, we introduce the interior product and the Lie derivative in the KBc subsector of SFT. The interior product in SFT is specified by a two-component “tangent vector” and lowers the ghost number by one (like the ordinary interior product maps a p-form to (p − 1)-form). The Lie derivative in SFT is defined as the anti-commutator of the interior product and the BRST operator. The important property of these two operations is that they respect the KBc algebra.Deforming the original (K, B, c) by using the Lie derivative, we can consider an infinite copies of the KBc algebra, which we call the KBc manifold. As an application, we construct the Wilson line on the manifold, which could play a role in reproducing degenerate fluctuation modes around a multi-brane solution.

On The Formulation of Bianchi Identity from Action Principle

In this letter, we investigate the basic property of the Hilbert-Einstein action principle and its infinitesimal variation under suitable transformation of the metric tensor. We find that for the variation in action to be invariant, it must be a scalar so as to obey the principle of general covariance. From this invariant action principle, we eventually derive the Bianchi identity (where, both the 1st and 2nd forms are been dissolved) by using the Lie derivative and Palatini identity. Finally, from our derived Bianchi identity, splitting it into its components and performing cyclic summation over all the indices, we eventually can derive the covariant derivative of the Riemann curvature tensor. This very formulation was first introduced by S Weinberg in case of a collision less plasma and gravitating system. We derive the Bianchi identity from the action principle via this approach; and hence the name ‘Weinberg formulation of Bianchi identity’.

Currents, charges and algebras in exceptional generalised geometry

A classical Ed(d)-invariant Hamiltonian formulation of world-volume theories of half-BPS p-branes in type IIb and eleven-dimensional supergravity is proposed, extending known results to d ≤ 6. It consists of a Hamiltonian, characterised by a generalised metric, and a current algebra constructed s.t. it reproduces the Ed(d) generalised Lie derivative. Ed(d)-covariance necessitates the introduction of so-called charges, specifying the type of p-brane and the choice of section. For p > 2, currents of p-branes are generically non- geometric due to the imposition of U-duality, e.g. the M5-currents contain coordinates associated to the M2-momentum.A derivation of the Ed(d)-invariant current algebra from a canonical Poisson structure is in general not possible. At most, one can derive a current algebra associated to para-Hermitian exceptional geometry.The membrane in the SL(5)-theory is studied in detail. It is shown that in a generalised frame the current algebra is twisted by the generalised fluxes. As a consistency check, the double dimensional reduction from membranes in M-theory to strings in type IIa string theory is performed. Many features generalise to p-branes in SL(p + 3) generalised geometries that form building blocks for the Ed(d)-invariant currents.

Gauged double field theory as an L∞ algebra

L∞ algebras describe the underlying algebraic structure of many consistent classical field theories. In this work we analyze the algebraic structure of Gauged Double Field Theory in the generalized flux formalism. The symmetry transformations consist of a generalized deformed Lie derivative and double Lorentz transformations. We obtain all the non-trivial products in a closed form considering a generalized Kerr-Schild ansatz for the generalized frame and we include a linear perturbation for the generalized dilaton. The off-shell structure can be cast in an L3 algebra and when one considers dynamics the former is exactly promoted to an L4 algebra. The present computations show the fully algebraic structure of the fundamental charged heterotic string and the $$ {L}_3^{\mathrm{gauge}} $$ L 3 gauge structure of (Bosonic) Enhanced Double Field Theory.