Related papers: Exactly realizable desired trajectories
This paper deals with structural controllability of leader-follower networks. The system matrix defining the network dynamics is a pattern matrix in which a priori given entries are equal to zero, while the remaining entries take nonzero…
In this paper, we study the target controllability problem of networked dynamical systems, in which we are tasked to steer a subset of network states towards a desired objective. More specifically, we derive necessary and sufficient…
In this paper, we consider the problem of controlling a dynamical system such that its trajectories satisfy a temporal logic property in a given amount of time. We focus on multi-affine systems and specifications given as syntactically…
In order to autonomously learn to control unknown systems optimally w.r.t. an objective function, Adaptive Dynamic Programming (ADP) is well-suited to adapt controllers based on experience from interaction with the system. In recent years,…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
In this paper, we present a prescribed performance control framework for trajectory tracking in Euler-Lagrange systems with unknown dynamics and prescribed input constraints. The proposed approach enforces hard funnel constraints, meaning…
The main objective of this article is to develop a matrix pencil approach for the study of the controllability and reachability of a class of linear singular discrete time systems. The description equation of a practical system may be…
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as a constrained optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a…
A method for certifying exact input trackability for constrained discrete time linear systems is introduced in this paper. A signal is assumed to be drawn from a reference set and the system must track this signal with a linear combination…
For linear infinite systems the approximate controllability problem by control constraints is considered. Controllability conditions represented via system parameters are obtained. Partial differential control systems and control systems…
In this article, we give a condition for the global controllability of affine nonlinear control systems with drifts on Euclidean spaces. Under regularity assumptions, the condition is necessary and sufficient in the codimension-1 and…
In this paper, we revisit the computation of controlled invariant sets for linear discrete-time systems through a trajectory-based viewpoint. We begin by introducing the notion of convex feasible points, which provides a new…
In this paper, we present an iterative Model Predictive Control (MPC) design for piecewise nonlinear systems. We consider finite time control tasks where the goal of the controller is to steer the system from a starting configuration to a…
We propose a data-driven tracking model predictive control (MPC) scheme to control unknown discrete-time linear time-invariant systems. The scheme uses a purely data-driven system parametrization to predict future trajectories based on…
For a general nonlinear control system, we study the problem of small time local attainability of a target which is the closure of an open set. When the target is smooth and locally the sublevel set of a smooth function, we develop second…
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…
Neural networks are increasingly used in robotics as policies, state transition models, state estimation models, or all of the above. With these components being learned from data, it is important to be able to analyze what behaviors were…
We introduce discontinuous solutions to nonlinear impulsive control systems with state time delays in the dynamics and derive necessary optimality conditions in the form of a Maximum Principle for associated optimal control problems. In the…
In the present work we investigate topological properties of the set of controllable differential-algebraic systems of the form $\tfrac{\text{d}}{\text{d}t}Ex = Ax+Bu$ with real matrices $E,A\in\mathbb{R}^{\ell\times n}$ and…
In Model Predictive Control (MPC) formulations of trajectory tracking problems, infeasible reference trajectories and a-priori unknown constraints can lead to cumbersome designs, aggressive tracking, and loss of recursive feasibility. This…