Related papers: Global Controllability of Multidimensional Rigid B…
Almost-global orientation trajectory tracking for a rigid body with external actuation has been well studied in the literature, and in the geometric setting as well. The tracking control law relies on the fact that a rigid body is a simple…
With the advent of quantum technologies, control issues are becoming increasingly important. In this article, we address the control in phase space under a global constraint provided by a minimal energy-like cost function and a local (in…
The paper is devoted to the controllability problem for 3D compressible Euler system. The control is a finite-dimensional external force acting only on the velocity equation. We show that the velocity and density of the fluid are…
The local controllability of a rich class of affine nonlinear control systems with nonhomogeneous quadratic drift and constant control vector fields is analyzed. The interest in this particular class of systems stems from the ubiquity in…
We present a hierarchical whole-body controller leveraging the full rigid body dynamics of the wheeled bipedal robot Ascento. We derive closed-form expressions for the dynamics of its kinematic loops in a way that readily generalizes to…
This paper investigates the controllability of finite-dimensional linear fractional systems involving an uncertain parameter. We establish new results on the simultaneous and average controllability. In particular, we show that average…
We describe how the dynamical system of rolling two $n$-dimensional connected, oriented Riemannian manifolds $M$ and $\hat M$ without twisting or slipping, can be lifted to a nonholonomic system of elements in the product of the oriented…
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…
Fast and modular modeling of multi-legged robots (MLRs) is essential for resilient control, particularly under significant morphological changes caused by mechanical damage. Conventional fixed-structure models, often developed with…
We study a classical multiparticle system (such as Toda lattice) whose dynamics we intend to control by forces applied to few particles of the system. Various problem settings, typical for control theory are posed for this model; among…
We study the small-time global approximate controllability for incompressible magnetohydrodynamic (MHD) flows in smoothly bounded two- or three-dimensional domains. The controls act on arbitrary nonempty open portions of each connected…
In this paper, we study the control system associated with the incompressible 3D Euler system. We show that the velocity field and pressure of the fluid are exactly controllable in projections by the same finite-dimensional control.…
Whole-body loco-manipulation for quadruped robots with arms remains a challenging problem, particularly in achieving multi-task control. To address this, we propose MLM, a reinforcement learning framework driven by both real-world and…
We study the quantization of many-body systems in two dimensions in rotating coordinate frames using a gauge invariant formulation of the dynamics. We consider reference frames defined by linear and quadratic gauge conditions. In both cases…
In this paper we study the controlled motion of an arbitrary two-dimensional body in an ideal fluid with a moving internal mass and an internal rotor in the presence of constant circulation around the body. We show that by changing the…
We prove global internal controllability in large time for the nonlinear Schr\"odinger equation on some compact manifolds of dimension 3. The result is proved under some geometrical assumptions : geometric control and unique continuation.…
A fundamental problem that the bearing rigidity theory studies is to determine when a framework can be uniquely determined up to a translation and a scaling factor by its inter-neighbor bearings. While many previous works focused on the…
A quantum system subject to external fields is said to be controllable if these fields can be adjusted to guide the state vector to a desired destination in the state space of the system. Fundamental results on controllability are reviewed…
Motivated by mechanical systems with symmetries, we focus on optimal control problems possessing symmetries. Following recent works, which generalized the classical concept of static turnpike to manifold turnpike, we extend the exponential…
We show that a bilinear control system is approximately controllable if and only if it is controllable in $\mathbb{R}^{n}\setminus\{0\}$. We approach this problem by looking at the foliation made by the orbits of the system, and by showing…