Related papers: Bearing Rigidity and Almost Global Bearing-Only Fo…
This paper investigates the stability of distance-based \textit{flexible} undirected formations in the plane. Without rigidity, there exists a set of connected shapes for given distance constraints, which is called the ambit. We show that a…
We study well-posedness, stabilization and control problems involving freely vibrating beams that may undergo motions of large magnitude -- i.e. large displacements of the reference line and large rotations of the cross sections. Such…
Estimation of the degree of stability and the bounds of solutions to non-autonomous nonlinear systems present major concerns in numerous applied problems. Yet, current techniques are frequently yield overconservative conditions which are…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…
In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…
Stability theory plays a crucial role in feedback control. However, adaptive control theory requires advanced and specialized stability notions that are not frequently used in standard feedback control theory. The present document is a set…
This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its…
The pure traction problem of elasticity appears frequently in engineering applications, and its complexity stems from the fact that its solution is unique only up to (infinitesimal) rigid body motions. When finite elements are employed to…
We consider the rigidity and global rigidity of bar-joint frameworks in Euclidean $d$-space under additional dilation constraints in specified coordinate directions. In this setting we obtain a complete characterisation of generic rigidity.…
In this paper, we develop a unified framework for studying constrained robust optimal control problems with adjustable uncertainty sets. In contrast to standard constrained robust optimal control problems with known uncertainty sets, we…
Generalization is one of the fundamental issues in machine learning. However, traditional techniques like uniform convergence may be unable to explain generalization under overparameterization. As alternative approaches, techniques based on…
This letter proposes two finite-time bearing-based control laws for acyclic leader-follower formations. The leaders in formation move with a bounded continuous reference velocity and each follower controls its position with regard to three…
Robustness is a basic property of any control system. In the context of linear output regulation, it was proved that embedding an internal model of the exogenous signals is necessary and sufficient to achieve tracking of the desired…
We develop a rigidity theory for frameworks in $\mathbb{R}^3$ which have two coincident points but are otherwise generic and only infinitesimal motions which are tangential to a family of cylinders induced by the realisation are considered.…
We consider the global rigidity problem for bar-joint frameworks where each vertex is constrained to lie on a particular line in $\mathbb R^d$. In our setting we allow multiple vertices to be constrained to the same line. Under a mild…
Many practical applications of online reinforcement learning require the satisfaction of safety constraints while learning about the unknown environment. In this work, we establish theoretical foundations for reinforcement learning with…
Fibre Bragg Gratings have become widespread measurement devices in engineering and other fields of application. In all but a few cases, the relation between cause and effect is simplified to a proportional model. However, at its…
A rigidity theory is developed for frameworks in a metric space with two types of distance constraints. Mixed sparsity graph characterisations are obtained for the infinitesimal and continuous rigidity of completely regular bar-joint…
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the…