Non-linear Symmetry-preserving Observer on Lie Groups

In this paper we give a geometrical framework for the design of observers on finite-dimensional Lie groups for systems which possess some specific symmetries. The design and the error (between true and estimated state) equation are explicit and intrinsic. We consider also a particular case: left-invariant systems on Lie groups with right equivariant output. The theory yields a class of observers such that error equation is autonomous. The observers converge locally around any trajectory, and the global behavior is independent from the trajectory, which reminds of the linear stationary case.Comment: 12 pages. Submitted. Preliminary version publicated in french in the CIFA proceedings and IFAC0

Symmetry-preserving Observers

This paper presents three non-linear observers on three examples of engineering interest: a chemical reactor, a non-holonomic car, and an inertial navigation system. For each example, the design is based on physical symmetries. This motivates the theoretical development of invariant observers, i.e, symmetry-preserving observers. We consider an observer to consist in a copy of the system equation and a correction term, and we give a constructive method (based on the Cartan moving-frame method) to find all the symmetry-preserving correction terms. They rely on an invariant frame (a classical notion) and on an invariant output-error, a less standard notion precisely defined here. For each example, the convergence analysis relies also on symmetries consideration with a key use of invariant state-errors. For the non-holonomic car and the inertial navigation system, the invariant state-errors are shown to obey an autonomous differential equation independent of the system trajectory. This allows us to prove convergence, with almost global stability for the non-holonomic car and with semi-global stability for the inertial navigation system. Simulations including noise and bias show the practical interest of such invariant asymptotic observers for the inertial navigation system.Comment: To be published in IEEE Automatic Contro

Flatness-based control of a single qubit gate

This work considers the open-loop control problem of steering a two level quantum system from an initial to a final condition. The model of this system evolves on the state space SU(2), having two inputs that correspond to the complex amplitude of a resonant laser field. A symmetry preserving flat output is constructed using a fully geometric construction and quaternion computations. Simulation results of this flatness-based open-loop control are provided.Comment: Submitted to IEEE AC. Simulation code available at http://cas.ensmp.fr/~rouchon/publications/PR2007/CodeMatlabScilabQubit.zi

A Time-Periodic Lyapunov Approach for Motion Planning of Controllable Driftless Systems on SU(n)

For a right-invariant and controllable driftless system on SU(n), we consider a time-periodic reference trajectory along which the linearized control system generates su(n): such trajectories always exist and constitute the basic ingredient of Coron's Return Method. The open-loop controls that we propose, which rely on a left-invariant tracking error dynamics and on a fidelity-like Lyapunov function, are determined from a finite number of left-translations of the tracking error and they assure global asymptotic convergence towards the periodic reference trajectory. The role of these translations is to avoid being trapped in the critical region of this Lyapunov-like function. The convergence proof relies on a periodic version of LaSalle's invariance principle and the control values are determined by numerical integration of the dynamics of the system. Simulations illustrate the obtained controls for $n=4$ and the generation of the C--NOT quantum gate.Comment: Submitte

Observing quantum state diffusion by heterodyne detection of fluorescence

A qubit can relax by fluorescence, which prompts the release of a photon into its electromagnetic environment. By counting the emitted photons, discrete quantum jumps of the qubit state can be observed. The succession of states occupied by the qubit in a single experiment, its quantum trajectory, depends in fact on the kind of detector. How are the quantum trajectories modified if one measures continuously the amplitude of the fluorescence field instead? Using a superconducting parametric amplifier, we have performed heterodyne detection of the fluorescence of a superconducting qubit. For each realization of the measurement record, we can reconstruct a different quantum trajectory for the qubit. The observed evolution obeys quantum state diffusion, which is characteristic of quantum measurements subject to zero point fluctuations. Independent projective measurements of the qubit at various times provide a quantitative validation of the reconstructed trajectories. By exploring the statistics of quantum trajectories, we demonstrate that the qubit states span a deterministic surface in the Bloch sphere at each time in the evolution. Additionally, we show that when monitoring fluorescence, coherent superpositions are generated during the decay from excited to ground state. Counterintuitively, measuring light emitted during relaxation can give rise to trajectories with increased excitation probability.Comment: Supplementary material can be found in the ancillary sectio

Using Spontaneous Emission of a Qubit as a Resource for Feedback Control

Persistent control of a transmon qubit is performed by a feedback protocol based on continuous heterodyne measurement of its fluorescence. By driving the qubit and cavity with microwave signals whose amplitudes depend linearly on the instantaneous values of the quadratures of the measured fluorescence field, we show that it is possible to stabilize permanently the qubit in any targeted state. Using a Josephson mixer as a phase-preserving amplifier, it was possible to reach a total measurement efficiency $\eta$=35%, leading to a maximum of 59% of excitation and 44% of coherence for the stabilized states. The experiment demonstrates multiple-input multiple-output analog Markovian feedback in the quantum regime.Comment: Supplementary material can be found as an ancillary objec

Aquifers survey in the context of source rocks exploitation: from baseline acquisition to long term monitoring.

International audienc

Controllability of spin-boson systems

In this paper we study the so-called spin-boson system, namely {a two-level system} in interaction with a distinguished mode of a quantized bosonic field. We give a brief description of the controlled Rabi and Jaynes--Cummings models and we discuss their appearance in the mathematics and physics literature. We then study the controllability of the Rabi model when the control is an external field acting on the bosonic part. Applying geometric control techniques to the Galerkin approximation and using perturbation theory to guarantee non-resonance of the spectrum of the drift operator, we prove approximate controllability of the system, for almost every value of the interaction parameter