Related papers: On Barriers in State and Input Constrained Nonline…
In this paper we consider an optimal control problem governed by a semilinear heat equation with bilinear control-state terms and subject to control and state constraints. The state constraints are of integral type, the integral being with…
By parametrizing input and state trajectories with basis functions different approximations to the constrained linear quadratic regulator problem are obtained. These notes present and discuss technical results that are intended to…
This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…
When transmitting information over a noisy channel, two approaches, dating back to Shannon's work, are common: assuming the channel errors are independent of the transmitted content and devising an error-correcting code, or assuming the…
In this work, we address the output--feedback control problem for nonlinear systems under bounded disturbances using a moving horizon approach. The controller is posed as an optimization-based problem that simultaneously estimates the state…
A robust model predictive control scheme for a class of constrained norm-bounded uncertain discrete-time linear systems is developed under the hypothesis that only partial state measurements are available for feedback. Off-line calculations…
In emerging control applications involving multiple and complex tasks, safety filters are gaining prominence as a modular approach to enforcing safety constraints. Among various methods, control barrier functions (CBFs) are widely used for…
In this paper approximations of the set of trajectories and integral funnel of the control system described by nonlinear ordinary differential equation with integral constraint on the control functions are considered. The set of admissible…
Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject to a single CBF constraint, making it challenging to…
A boundary value problem is commonly associated with constraints imposed on a system at its boundary. We advance here an alternative point of view treating the system as interacting "boundary" and "interior" subsystems. This view is…
Handling uncertainty in model predictive control comes with various challenges, especially when considering state constraints under uncertainty. Most methods focus on either the conservative approach of robustly accounting for uncertainty…
A lower bound on the amount of noise that must be added to a GHZ-like entangled state to make it separable (also called the random robustness) is found using the transposition condition. The bound is applicable to arbitrary numbers of…
We introduce a hybrid (discrete--continuous) safety controller which enforces strict state and input constraints on a system---but only acts when necessary, preserving transparent operation of the original system within some safe region of…
We consider the decentralized control of a discrete-time, linear system subject to exogenous disturbances and polyhedral constraints on the state and input trajectories. The underlying system is composed of a finite collection of…
This paper addresses the problem of designing distributed controllers with state and input constraints in the System Level Synthesis (SLS) framework. Using robust optimization, we show how state and actuation constraints can be incorporated…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
We study a control-constrained optimal control problem governed by a semilinear elliptic equation. The control acts in a bilinear way on the boundary, and can be interpreted as a heat transfer coefficient. A detailed study of the state…
We consider the problem of stabilization of a linear system, under state and control constraints, and subject to bounded disturbances and unknown parameters in the state matrix. First, using a simple least square solution and available…
In this work, we carry out structural and algorithmic studies of a problem of barrier forming: selecting theminimum number of straight line segments (barriers) that separate several sets of mutually disjoint objects in the plane. The…
We outline the principal results of a recent examination of the quantization of systems with first- and second-class constraints from the point of view of coherent-state phase-space path integration. Two examples serve to illustrate the…