Related papers: Global Controllability of Multidimensional Rigid B…
The design of efficient and robust pulse sequences is a fundamental requirement in quantum control. Numerical methods can be used for this purpose, but with relatively little insight into the control mechanism. Here, we show that the free…
In this work, we investigate the small-time global controllability properties of a class of fourth-order nonlinear parabolic equations driven by a bilinear control posed on the one-dimensional torus. The controls depend only on time and act…
Loco-manipulation, physical interaction of various objects that is concurrently coordinated with locomotion, remains a major challenge for legged robots due to the need for both precise end-effector control and robustness to unmodeled…
The goal of this work is to prove global controllability and stabilization properties for the fractional Schr\"odinger equation on $d$-dimensional compact Riemannian manifolds without boundary $(M,g)$. To prove our main results we use…
We investigate the controllability of an infinite-dimensional quantum system: a quantum particle confined on a Thick Quantum Graph, a generalisation of Quantum Graphs whose edges are allowed to be manifolds of arbitrary dimension with…
Complex multibody legged robots can have complex rotational control challenges. In this paper, we propose a concise way to understand and formulate a \emph{whole-body orientation} that (i) depends on system configuration only and not a…
We study the quantization of many-body systems in three dimensions in rotating coordinate frames using a gauge invariant formulation of the dynamics. We consider reference frames defined by linear gauge conditions, and discuss their Gribov…
A major challenge to the control of infinite dimensional quantum systems is the irreversibility which is often present in the system dynamics. Here we consider systems with discrete-spectrum Hamiltonians operating over a Schwartz space…
We treat the circular and elliptic restricted three-body problems in inertial frames as periodically forced Kepler problems with additional singularities and explain that in this setting the main result of [4] is applicable. This guarantees…
We provide a constructive method designed in order to control the stability of a given periodic orbit of a general completely integrable system. The method consists of a specific type of perturbation, such that the resulting perturbed…
We study the global approximate controllability of the reaction-diffusion equation in a parallelpiped $ \Omega = (a_1,b_1 ) \times \ldots (a_n,b_n) \subset R^n $, governed by a multiplicative control in a reaction term. It is assumed that…
The convective Brinkman-Forchheimer (CBF) equations describe the motion of incompressible viscous fluid through a rigid, homogeneous, isotropic, porous medium. In this work, we consider some distributed optimal control problems like total…
This paper is devoted to the controllability of linear systems of two coupled parabolic equations when the coupling involves a space dependent first order term. This system is set on an bounded interval, and the first equation is controlled…
In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. Existing…
Control of soft robotic manipulators remains a challenge for designs with advanced capabilities and novel actuation. Two significant limitations are multi-axis, three-dimensional motion of soft bodies alongside actuator dynamics and…
Manipulation of infinite dimensional quantum systems is important to controlling complex quantum dynamics with many practical physical and chemical backgrounds. In this paper, a general investigation is casted to the controllability problem…
We consider the motion of a rigid body immersed in a two-dimensional viscous incompressible fluid with Navierslip-with-friction conditions at the solid boundary. The fluid-solid system occupies the whole plane. We provethe small-time exact…
In this paper, we investigate the controllability of an underwater vehicle immersed in an infinite volume of an inviscid fluid whose flow is assumed to be irrotational. Taking as control input the flow of the fluid through a part of the…
In this paper, we study the global approximate multiplicative controllability for nonlinear degenerate parabolic Cauchy-Neumann problems. First, we will obtain embedding results for weighted Sobolev spaces, that have proved decisive in…
Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled…