Related papers: Bearing Rigidity and Almost Global Bearing-Only Fo…
We give a combinatorial characterization of generic frameworks that are minimally rigid under the additional constraint of maintaining symmetry with respect to a finite order rotation or a reflection. To establish these results we develop a…
We study local stabilization of nonlinear control systems under explicit gain constraints on the feedback law. Using a quantitative refinement of Brockett's openness condition, we introduce the notion of a maximal continuous openness rate…
In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…
Perturbation theory in geometric theories of gravitation is a gauge theory of symmetric tensors defined on a Lorentzian manifold (the background spacetime). The gauge freedom makes uniqueness problems in perturbation theory particularly…
We consider distributed consensus and vehicular formation control problems. Specifically we address the question of whether local feedback is sufficient to maintain coherence in large-scale networks subject to stochastic disturbances. We…
The aim of this article is to introduce a new methodology for constructing morphings between shapes that have identical topology. The morphings are obtained by deforming a reference shape, through the resolution of a sequence of linear…
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…
We present a survey of results concerning the use of inductive constructions to study the rigidity of frameworks. By inductive constructions we mean simple graph moves which can be shown to preserve the rigidity of the corresponding…
This paper investigates the decentralized stabilization problem for a class of interconnected systems in the presence of non-triangular structural uncertainties and time-varying parameters, where each subsystem exchanges information only…
Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective motions have been reported recently when inconsistent…
The present paper addresses the problem of existence of an (output) feedback law to the purposes of asymptotically steering to zero a given controlled variable, while keeping all state variables bounded, for any initial conditions in a…
This paper proposes a passivity-based port-Hamiltonian (pH) framework for multi-agent displacement-based and rigid formation control and velocity tracking. The control law consists of two parts, where the internal feedback is to track the…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
Many materials of contemporary interest, such as gels, biological tissues and elastomers, are easily deformed but essentially incompressible. Traditional linear theory of elasticity implements incompressibility only to first order and thus…
The mathematical theory of rigidity of body-bar and body-hinge frameworks provides a useful tool for analyzing the rigidity and flexibility of many articulated structures appearing in engineering, robotics and biochemistry. In this paper we…
The problem of the rigorous derivation of one-dimensional models for nonlinearly elastic curved beams is studied in a variational setting. Considering different scalings of the three-dimensional energy and passing to the limit as the…
This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a strict-feedback structure with unknown parameters entering both…
A new perturbation theory is proposed for studying finite-size effects near critical point of the $\phi^4$ model with a one-component order parameter. The new approach is based on the techniques of generating functional and functional…
We study the finite-size scaling behaviour at the critical point, resulting from the addition of a homogeneous size-dependent perturbation, decaying as an inverse power of the system size. The scaling theory is first formulated in a general…
We study global controllability of 'rotating' multidimensional rigid body (MRB) controlled by application of few torques. Study by methods of geometric control requires analysis of algebraic structure introduced by the quadratic term of…