Related papers: A new concept of strong controllability via the Sc…
This paper studies controllability properties of recurrent neural networks. The new contributions are: (1) an extension of the result in the previous paper "Complete controllability of continuous-time recurrent neural networks" (Sontag and…
In this note, we investigate the structural controllability and observability indices of structured systems. We provide counter-examples showing that an existing graph-theoretic characterization for the structural controllability index…
We prove that strong structural controllability of a pair of structural matrices $(\mathcal{A},\mathcal{B})$ can be verified in time linear in $n + r + \nu$, where $\mathcal{A}$ is square, $n$ and $r$ denote the number of columns of…
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…
The growing complexity of dynamical systems and advances in data collection necessitates robust data-driven control strategies without explicit system identification and robust synthesis. Data-driven stability has been explored in linear…
A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…
We consider a non-resonant system of finitely many bilinear Schroedinger equations with discrete spectrum driven by the same scalar control. We prove that this system can approximately track any given system of trajectories of density…
We present a novel data-driven model predictive control (MPC) approach to control unknown nonlinear systems using only measured input-output data with closed-loop stability guarantees. Our scheme relies on the data-driven system…
A novel least-squares model-reference direct adaptive control (LS-MRAC) algorithm for multivariable (MIMO) plants is presented. The controller parameters are directly updated based on the output tracking error. The control law is crucially…
The synthesis of adaptive gain-scheduling controller is discussed for continuous-time linear models characterized by polytopic uncertainties. The proposed approach computes the control law assuming the parameters as uncertain and adaptively…
Approximate dynamic programming (ADP) faces challenges in dealing with constraints in control problems. Model predictive control (MPC) is, in comparison, well-known for its accommodation of constraints and stability guarantees, although its…
We study the problem of estimating the value function of discrete-time switched systems under arbitrary switching. Unlike the switched LQR problem, where both inputs and mode sequences are optimized, we consider the case where switching is…
We derive new approximations for quintessence solutions that are simpler and an order of magnitude more accurate than anything available in the literature, which from an observational perspective \emph{makes numerical calculations…
In this paper we establish several results on approximate controllability of a semilinear wave equation by making use of a single multiplicative control. These results are then applied to discuss the exact controllability properties for the…
We consider the 1D linear Schr{\"o}dinger equation, on a bounded interval, with Dirichlet boundary conditions and bilinear scalar control. The small-time local exact controllability around the ground state was proved in [BeaLau10], under an…
This analysis is concerned with the controllability of quantum systems in the case where the standard dipolar approximation, involving the permanent dipole moment of the system, is corrected with a polarizability term, involving the field…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
An adaptive controller is proposed and analyzed for the class of infinite-horizon optimal control problems in positive linear systems presented in (Ohlin et al., 2024b). This controller is derived from the solution of a "data-driven…
We consider a linear Korteweg-de Vries equation on a bounded domain with a left Dirichlet boundary control.The controllability to the trajectories of such a system was proved in the last decade by using Carleman estimates.Here, we go a step…
We develop a new numerical method for approximating the infinite time reachable set of strictly stable linear control systems. By solving a linear program with a constraint that incorporates the system dynamics, we compute a polytope with…