Related papers: GAC, savings, and unbounded inputs
The paper presents a robust control technique that combines the Control Lyapunov function and Hamilton-Jacobi Reachability to compute a controller and its Region of Attraction (ROA). The Control Lyapunov function uses a linear system model…
It is known that if a nonlinear control affine system without drift is bracket generating, then its associated sub-Laplacian is invertible under some conditions on the domain. In this note, we investigate the converse. We show how…
In variational quantum algorithms (VQAs), the most common objective is to find the minimum energy eigenstate of a given energy Hamiltonian. In this paper, we consider the general problem of finding a sufficient control Hamiltonian structure…
The inherent approximation ability of neural networks plays an essential role in adaptive neural control, where the prerequisite for existence of the compact set is crucial in the control designs. Instead of using practical system state, in…
The recent development of globally strict control Lyapunov functions (CLFs) for the challenging unicycle parking problem provides a foundation for pursuing optimality. We address this in the inverse optimal framework, thereby avoiding the…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
PANOC is an algorithm for nonconvex optimization that has recently gained popularity in real-time control applications due to its fast, global convergence. The present work proposes a variant of PANOC that makes use of Gauss-Newton…
We consider the dissipative generalized Surface Quasi-Geostrophic equation with dissipation given by any fractional power of the Laplacian. In the inviscid limit, it is proved that anomalous dissipation of the Hamiltonian is prevented by…
In this paper we study the existence of sufficiently regular representations of Hamilton-Jacobi equations in the optimal control theory with unbounded control set. We use a new method to construct representations for a wide class of…
In this paper, we first establish the dynamic programming principle for stochastic optimal control problems defined on compact Riemannian manifolds without boundary. Subsequently, we derive the associated Hamilton-Jacobi-Bellman (HJB)…
This paper investigates the central role played by the Hamiltonian in continuous-time nonlinear optimal control problems. We show that the strict convexity of the Hamiltonian in the control variable is a sufficient condition for the…
The control algebraic Riccati equation is studied for a class of systems with unbounded control and observation operators. Using a dichotomy property of the associated Hamiltonian operator matrix, two invariant graph subspaces are…
In this paper, we study a class of fractional optimal control problems. A necessary condition for the existence of an optimal control is provided in the literature. It is commonly given as the existence of a solution of a fractional…
We consider a system of two bosonic modes each subject to the dynamics induced by a thermal Markovian environment and we identify instantaneous, local symplectic controls that minimise the loss of entanglement in the Gaussian regime. By…
In this article, we consider a stochastic linear quadratic control problem with partial observation. A near optimal control in the weak formulation is characterized. The main features of this paper are the presence of the control in the…
The two main contributions of this paper are a proof of concept of the recent novel idea in the area of long-time average cost control, and a new method of overcoming the well-known difficulty of non-convexity of simultaneous optimization…
The purpose of this work is to introduce a notion of weak solution to the master equation of a potential mean field game and to prove that existence and uniqueness hold under quite general assumptions. Remarkably, this is achieved without…
We study the asymptotic behavior of the viscosity solutions $u^\lambda_G$ of the Hamilton-Jacobi (HJ) equation \begin{equation*} \lambda u(x)+G(x,u')=c(G)\qquad\hbox{in $\mathbb{R}$} \end{equation*} as the positive discount factor $\lambda$…
We consider cost minimising control problems, in which the dynamical system is constrained by higher order differential equations of Euler-Lagrange type. Following ideas from a previous paper by the first and the third author, we prove that…
We present a detailed analysis of the convergence properties of Lyapunov control for finite-dimensional quantum systems based on the application of the LaSalle invariance principle and stability analysis from dynamical systems and control…