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A seminal result in decentralized control is the development of fixed modes by Wang and Davison in 1973 - that plant modes which cannot be moved with a static decentralized controller cannot be moved by a dynamic one either, and that the…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
The generalization of the Koopman operator to systems with control input and the derivation of a nonlinear fundamental lemma are two open problems that play a key role in the development of data-driven control methods for nonlinear systems.…
State-space smoothing has found many applications in science and engineering. Under linear and Gaussian assumptions, smoothed estimates can be obtained using efficient recursions, for example Rauch-Tung-Striebel and Mayne-Fraser algorithms.…
In this paper we consider an intrinsic point of view to describe the equations of motion for higher-order variational problems with constraints on higher-order trivial principal bundles. Our techniques are an adaptation of the classical…
A classical reduced order model for dynamical problems involves spatial reduction of the problem size. However, temporal reduction accompanied by the spatial reduction can further reduce the problem size without losing accuracy much, which…
Given a submersion $\pi:Q \to M$ with an Ehresmann connection $\mathcal{H}$, we describe how to solve Hamiltonian systems on $M$ by lifting our problem to $Q$. Furthermore, we show that all solutions of these lifted Hamiltonian systems can…
A super-stable matching, which was introduced by Irving, is a solution concept in a variant of the stable matching problem in which the preferences may contain ties. Irving proposed a polynomial-time algorithm for the problem of finding a…
We discuss the problem of optimizing the distance function from a given point, subject to polynomial constraints. A key algebraic invariant that governs its complexity is the Euclidean distance degree, which pertains to first-order…
We consider a kind of stochastic exit time optimal control problems, in which the cost function is defined through a nonlinear backward stochastic differential equation. We study the regularity of the value function for such a control…
In this paper we analyse the well-posedness of the Cauchy problem for a rather general class of hyperbolic systems with space-time dependent coefficients and with multiple characteristics of variable multiplicity. First, we establish a…
By a semi-Lagrangian change of coordinates, the hydrostatic Euler equations describing free-surface sheared flows is rewritten as a system of quasilinear equations, where stability conditions can be determined by the analysis of its…
Using the general notions of Batalin, Fradkin, Fradkina and Tyutin to convert second class systems into first class ones, we present a gauge invariant formulation of the massive Yang-Mills theory by embedding it in an extended phase space.…
Optimal control in general, and flatness-based control in particular, of robotic arms necessitate to compute the first and second time derivatives of the joint torques/forces required to achieve a desired motion. In view of the required…
We present a new time integrator for articulated body dynamics. We formulate the governing equations of the dynamics using only the position variables and recast the position-based articulated dynamics as an optimization problem. Our…
We propose an innovative isogeometric space-time method for the heat equation, with smooth splines approximation in both space and time. To enhance the stability of the method we add a stabilizing term, based on a linear combination of…
In this paper we first study the fixed-time stabilizability of discrete-time switched linear control systems. Using a geometric approach, we derive conditions under which such systems can be stabilized within a prescribed number of steps,…
Many unsteady flows exhibiting complex dynamics are nevertheless characterized by emergent large-scale coherence in space and time. Reduced-order models based on Galerkin projection of the governing equations onto an orthogonal modal basis…
In this paper, we propose and analyze a third-order dynamical system for solving a generalized inverse mixed variational inequality problem in a Hilbert space H. We establish the existence and uniqueness of the trajectories generated by the…
The purpose of this work is the development of space-time discretization schemes for phase-field optimal control problems. Specifically in the optimal control minimization problem, a tracking-type cost functional is minimized to steer the…