Related papers: High order sufficient conditions for tracking
This paper considers the problem of fast and safe autonomous navigation in partially known environments. Our main contribution is a control policy design based on ellipsoidal trajectory bounds obtained from a quadratic state-dependent…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
Periodically-driven systems are ubiquitous in science and technology. In quantum dynamics, even a small number of periodically-driven spins leads to complicated dynamics. Hence, it is of interest to understand what constraints such dynamics…
This paper is mainly devoted to the study of controlled sweeping processes with polyhedral moving sets in Hilbert spaces. Based on a detailed analysis of truncated Hausdorff distances between moving polyhedra, we derive new existence and…
We establish three tractable, jointly sufficient conditions for the control landscapes of non-linear control systems to be trap free comparable to those now well known in quantum control. In particular, our results encompass end-point…
With an increasing use of data-driven models to control robotic systems, it has become important to develop a methodology for validating such models before they can be deployed to design a controller for the actual system. Specifically, it…
This paper is concerned with the derivation of necessary conditions for the optimal shape of a design problem governed by a non-smooth PDE. The main particularity thereof is the lack of differentiability of the nonlinearity in the state…
We investigate necessary and sufficient conditions under which a general nonlinear affine control system with outputs can be written as a gradient control system corresponding to some pseudo-Riemannian metric defined on the state space. The…
We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…
Within this chapter, we discuss control in the coefficients of an obstacle problem. Utilizing tools from H-convergence, we show existence of optimal solutions. First order necessary optimality conditions are obtained after deriving…
The aim of this paper, is to study electrical cardiography problem. Thus, we construct the state space system of this model as mathematical model. Moreover, we present some definitions and results which is described some concepts of linear…
Optimal control problems of tracking type for a class of linear systems with uncertain parameters in the dynamics are investigated. An affine tracking feedback control input is obtained by considering the minimization of an energy-like…
In this work we provide a computationally tractable procedure for designing affine control policies, applied to constrained, discrete-time, partially observable, linear systems subject to set bounded disturbances, stochastic noise and…
We present a framework to control and track the observables of a general solid state system driven by an incident laser field. The main result is a non-linear equation of motion for tracking an observable, together with a constraint on the…
In this paper, we present a framework for solving continuous optimal control problems when the true system dynamics are approximated through an imperfect model. We derive a control strategy by applying Pontryagin's Minimum Principle to the…
We consider tracking control for uncertain linear systems with known relative degree which are possibly non-minimum phase, i.e., their zero dynamics may have an unstable part. For a given sufficiently smooth reference signal we design a…
When applying methods of optimal control to motion planning or stabilization problems, some theoretical or numerical difficulties may arise, due to the presence of specific trajectories, namely, singular minimizing trajectories of the…
We present data-based conditions for enforcing contractivity via feedback control and obtain desired asymptotic properties of the closed-loop system. We focus on unknown nonlinear control systems whose vector fields are expressible via a…
We consider in this paper the regularity problem for time-optimal trajectories of a single-input control-affine system on a n-dimensional manifold. We prove that, under generic conditions on the drift and the controlled vector field, any…