Positivity, monotonicity, and consensus on lie groups

Dynamical systems whose linearizations along trajectories are positive in the sense that they infinitesimally contract a smooth cone field are called differentially positive. The property can be thought of as a generalization of monotonicity, which is differential positivity in a linear space with respect to a constant cone field. Differential positivity places significant constraints on the asymptotic behavior of trajectories under mild technical conditions. This paper studies differentially positive systems defined on Lie groups. The geometry of a Lie group allows for the generation of invariant cone fields over the tangent bundle given a single cone in the Lie algebra. We outline the mathematical framework for studying differential positivity of discrete and continuous-time dynamics on a Lie group with respect to an invariant cone field and motivate the use of this analysis framework in nonlinear control, and, in particular in nonlinear consensus theory. We also introduce a generalized notion of differential positivity of a dynamical system with respect to an extended notion of cone fields generated by cones of rank k. This new property provides the basis for a generalization of differential Perron-Frobenius theory, whereby the Perron-Frobenius vector field which shapes the one-dimensional attractors of a differentially positive system is replaced by a distribution of rank k that results in k-dimensional integral submanifold attractors instead

Ordering positive definite matrices

We introduce new partial orders on the set $S^+_n$ of positive definite matrices of dimension $n$ derived from the affine-invariant geometry of $S^+_n$. The orders are induced by affine-invariant cone fields, which arise naturally from a local analysis of the orders that are compatible with the homogeneous geometry of $S^+_n$ defined by the natural transitive action of the general linear group $GL(n)$. We then take a geometric approach to the study of monotone functions on $S^+_n$ and establish a number of relevant results, including an extension of the well-known L\"owner-Heinz theorem derived using differential positivity with respect to affine-invariant cone fields

Affine-invariant orders on the set of positive-definite matrices

© 2017, Springer International Publishing AG. We introduce a family of orders on the set S+n of positive-definite matrices of dimension n derived from the homogeneous geometry of S+n induced by the natural transitive action of the general linear group GL(n). The orders are induced by affine-invariant cone fields, which arise naturally from a local analysis of the orders that are compatible with the homogeneous structure of S+n. We then revisit the well-known Löwner-Heinz theorem and provide an extension of this classical result derived using differential positivity with respect to affine-invariant cone fields.ER

Target formation on the circle by monotone system design

Positivity and Perron-Frobenius theory provide an elegant framework for the convergence analysis of linear consensus algorithms. Here we consider a generalization of these ideas to the analysis of nonlinear consensus algorithms on the circle and establish tools for the design of consensus protocols that monotonically converge to target formations on the circle

Geometric matrix midranges

We define geometric matrix midranges for positive definite Hermitian matrices and study the midrange problem from a number of perspectives. Special attention is given to the midrange of two positive definite matrices before considering the extension of the problem to $N > 2$ matrices. We compare matrix midrange statistics with the scalar and vector midrange problem and note the special significance of the matrix problem from a computational standpoint. We also study various aspects of geometric matrix midrange statistics from the viewpoint of linear algebra, differential geometry and convex optimization.ECH2020 EUROPEAN RESEARCH COUNCIL (ERC) (670645

Curvature generation in nematic surfaces.

In recent years there has been a growing interest in the study of shape formation using modern responsive materials that can be preprogrammed to undergo spatially inhomogeneous local deformations. In particular, nematic liquid crystalline solids offer exciting possibilities in this context. Considerable recent progress has been made in achieving a variety of shape transitions in thin sheets of nematic solids by engineering isolated points of concentrated Gaussian curvature using topological defects in the nematic director field across textured surfaces. In this paper, we consider ways of achieving shape transitions in thin sheets of nematic glass by generation of nonlocalized Gaussian curvature in the absence of topological defects in the director field. We show how one can blueprint any desired Gaussian curvature in a thin nematic sheet by controlling the nematic alignment angle across the surface and highlight specific patterns which present feasible initial targets for experimental verification of the theory

Differential positivity with respect to cones of rank k ≥ 2

© 2017 We consider a generalized notion of differential positivity of a dynamical system with respect to cone fields generated by cones of rank k ≥ 2. The property refers to the contraction of such cone fields by the linearization of the flow along trajectories. It provides the basis for a generalization of differential Perron-Frobenius theory, whereby the Perron-Frobenius vector field which shapes the one-dimensional attractors of a differentially positive system is replaced by a distribution of rank k that results in k-dimensional integral submanifold attractors instead. We further develop the theory in the context of invariant cone fields and invariant differential positivity on Lie groups and illustrate the key ideas with an extended example involving consensus on the space of rotation matrices SO(3)