Related papers: Controllability function as time of motion. I
Several concepts on the measure of observability, reachability, and robustness are defined and illustrated for both linear and nonlinear control systems. Defined by using computational dynamic optimization, these concepts are applicable to…
For the sub-Riemannian problem on the group of motions of Euclidean space we present explicit formulas for extremal controls in a special case, when one of the initial momenta is fixed.
When dealing with control systems, it is useful and even necessary to assess the performance of underlying transfer functions. The functions may or may not be linear, may or may not be even monotonic. In addition, they may have structural…
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…
A canonical formalism and constraint analysis for discrete systems subject to a variational action principle are devised. The formalism is equivalent to the covariant formulation, encompasses global and local discrete time evolution moves…
Symmetry properties of the evolution equation and the state to be controlled are shown to determine the basic features of the linear control of unstable orbits. In particular, the selection of control parameters and their minimal number are…
We consider the Chance Constrained Model Predictive Control problem for polynomial systems subject to disturbances. In this problem, we aim at finding optimal control input for given disturbed dynamical system to minimize a given cost…
In the paper, problems of controllability, approximate controllability, reachability and approximate reachability are studied for the control system $w_t=w_{xx}$, $w(0,\cdot)=u$, $x>0$, $t\in(0,T)$, where $u\in L^\infty(0,T)$ is a control.…
In this paper we introduce a new dynamical condition, the comb geometric control condition, which is sufficient for observability of the Schr\"odinger equation in Euclidean space. We provide examples which show this condition is strictly…
In this paper we consider a control problem for a Partially Observable Piecewise Deterministic Markov Process of the following type: After the jump of the process the controller receives a noisy signal about the state and the aim is to…
Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given as an ordinary differential equation,…
In this paper, we investigate the controllability of the point vortex system by means of a single vortex. The point vortex system is a well-known simplied model for the incompressible Euler equation, where the vorticity is concentrated in a…
The objective of this paper is to study the controllability of discrete-time linear control systems in solvable Lie groups. In the special case of nilpotent Lie groups, a necessary and sufficient condition for controllability is…
We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following…
Controllability properties for discrete-time, Markovian quantum dynamics are investigated. We find that, while in general the controlled system is not finite-time controllable, feedback control allows for arbitrary asymptotic state-to-state…
Control barrier functions have shown great success in addressing control problems with safety guarantees. These methods usually find the next safe control input by solving an online quadratic programming problem. However, model uncertainty…
We study control problems for linear systems in the behavioral framework. Our focus is a class of regular controllers that are equivalent to the canonical controller. The canonical controller is a particular controller that is guaranteed to…
We investigate how dynamical decoupling methods may be used to manipulate the time evolution of quantum many-body systems. These methods consist of sequences of external control operations designed to induce a desired dynamics. The systems…
Model predictive control solves a constrained optimization problem online in order to compute an implicit closed-loop control policy. Recursive feasibility -- guaranteeing that the optimal control problem will have a solution at every time…
Consider a time series with missing observations but a known final point. Using control theory ideas we estimate/predict these missing observations. We obtain recurrence equations which minimize sum of squares of a control sequence. An…