Related papers: Characterization of accessibility for affine conne…
A novel control method is proposed to ensure compatibility of safe, stabilizing control laws, i.e., simultaneous satisfaction of asymptotic stability and constraint satisfaction for nonlinear affine systems. The results are dependent on an…
The objective of this note is to share some reflections of the authors regarding the use of sliding mode designs in control systems. We believe the abundant, and ever increasing, appearance of this kind of works on our scientific…
Motivated by applications in robotics, we investigate a discrete control system related Fibonacci sequence and we characterize its reachable set.
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…
Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, such as reachability, in order to guide system navigation…
The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…
We consider affine systems defined on polytopes and study the cases where the systems are not in-block controllable with respect to the given polytopes. That are the cases in which we cannot fully control the affine systems within the…
The aim of this paper is to prove that a control affine system on a manifold is equivalent by diffeomorphism to a linear system on a Lie group or a homogeneous space if and only the vector fields of the system are complete and generate a…
We consider the decidability of state-to-state reachability in linear time-invariant control systems over discrete time. We analyse this problem with respect to the allowable control sets, which in general are assumed to be defined by…
The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…
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…
Neural networks (NN) have been successfully applied to approximate various types of complex control laws, resulting in low-complexity NN-based controllers that are fast to evaluate. However, when approximating control laws using NN,…
Finite-state models of control systems were proposed by several researchers as a convenient mechanism to synthesize controllers enforcing complex specifications. Most techniques for the construction of such symbolic models have two main…
We study the mechanics of nematically ordered semiflexible networks showing that they, like isotropic networks, undergo an affine to non-affine cross-over controlled by the ratio of the filament length to the non-affinity length. Deep in…
The problem of motion planning for affine control systems consists of designing control inputs that drive a system from a well-defined initial to final states in a desired amount of time. For control systems with drift, however,…
We investigate the universality of multi-spin systems in architectures of various symmetries of coupling type and topology. Explicit reachability sets under symmetry constraints are provided. Thus for a given (possibly symmetric)…
Neural Networks (NNs) can provide major empirical performance improvements for robotic systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating the…
Given a finite-dimensional time continuous control system and $\varepsilon>0$, we address the question of the existence of controls that maintain the corresponding state trajectories in the $\varepsilon$-neighborhood of any prescribed path…
For various engineering and industrial applications it is desirable to realize mechanical systems with broadly adjustable elasticity to respond flexibly to the external environment. Here we discover a topology-correlated transition between…
We present an approach to approximate reachable sets for linear systems with bounded L-infinity controls in finite time. Our first approach investigates the boundaries of these sets and reveals an exact characterization for single-input,…