Related papers: Exactly realizable desired trajectories
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
We consider a nonlinear ordinary differential equation and want to control its behavior so that it reaches a target by minimizing a cost function. Our approach is to use hybrid systems to solve this problem: the complex dynamic is replaced…
The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…
We consider the problem of transporting \nota{one probability measure into another through} the flow of a given driftless control-affine system. Under suitable regularity conditions, the controllability of the system by means of open-loop…
The design of tracking controllers that closely follow a reference trajectory while ensuring safety and robustness against disturbances is a challenging problem in the control of autonomous systems. In this work, we propose a neural…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
We consider the problem of learning structured, closed-loop policies (feedback laws) from demonstrations in order to control under-actuated robotic systems, so that formal behavioral specifications such as reaching a target set of states…
For homogeneous bilinear control systems, the control sets are characterized using a Lie algebra rank condition for the induced systems on projective space. This is based on a classical Diophantine approximation result. For affine control…
In mathematics and engineering, control theory is concerned with the analysis of dynamical systems through the application of suitable control inputs. One of the prominent problems in control theory is controllability which concerns the…
This paper considers two different problems in trajectory tracking control for linear systems. First, if the control is not unique which is most input energy efficient. Second, if exact tracking is infeasible which control performs most…
For uncertain multiple inputs multi-outputs (MIMO) nonlinear systems, it is nontrivial to achieve asymptotic tracking, and most existing methods normally demand certain controllability conditions that are rather restrictive or even…
This paper studies the optimal control problem for discrete-time nonlinear systems and an approximate dynamic programming-based Model Predictive Control (MPC) scheme is proposed for minimizing a quadratic performance measure. In the…
This paper focuses on boundary approximate controllability under positivity constraints of a wide range of infinite-dimensional control systems. We develop frequency domain controllability criteria. Firstly, we derive a controllability…
The purpose of this paper is to use the framework of Lie algebroids to study optimal control problems for affine connection control systems on Lie groups. In this context, the equations for critical trajectories of the problem are…
As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…
This paper deals with strong structural controllability of linear structured systems in which the system matrices are given by zero/nonzero/arbitrary pattern matrices. Instead of assuming that the nonzero and arbitrary entries of the system…
Using the semigroup approach to abstract boundary control problems we characterize the space of all exactly reachable states. Moreover, we study the situation when the controls of the system are required to be positive. The abstract results…
We present a robust data-driven control scheme for an unknown linear system model with bounded process and measurement noise. Instead of depending on a system model in traditional predictive control, a controller utilizing data-driven…
In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…
In this work, we extend Aubry-Mather theory to the case of control systems with nonholonomic constraints. In this framework, we consider an optimal control problem where admissible trajectories are solutions of a control-affine equation.…