Semigroups and Controllability of Invariant Control Systems on $\mathrm{Sl}\left(n,\mathbb{H}\right)$

Abstract

Let $\mathrm{Sl}\left(n,\mathbb{H}\right)$ be the Lie group of $n\times n$ quaternionic matrices $g$ with $\left|\det g\right|=1$. We prove that a subsemigroup $S\subset \mathrm{Sl}\left(n,\mathbb{H}\right)$ with nonempty interior is equal to $\mathrm{Sl}\left(n,\mathbb{H}\right)$ if $S$ contains a subgroup isomorphic to $\mathrm{Sl}\left(2,\mathbb{H}\right)$. As application we give sufficient conditions on $A,B\in \mathfrak{sl}\left(n,\mathbb{H}\right)$ to ensuring that the invariant control system $\dot{g}=Ag+uBg$ is controllable on $\mathrm{Sl}\left(n,\mathbb{H}\right)$. We prove also that these conditions are generic in the sense that we obtain an open and dense set of controllable pairs $\left(A,B\right)\in \mathfrak{sl}{\left(n,\mathbb{H}\right)}^2$.