Related papers: Fekete points, formation control, and the balancin…
Hybrid dynamical systems are systems which undergo both continuous and discrete transitions. The Bolza problem from optimal control theory is applied to these systems and a hybrid version of Pontryagin's maximum principle is presented. This…
In this paper, we present an original set of flocking rules using an ecologically-inspired paradigm for control of multi-robot systems. We translate these rules into a constraint-driven optimal control problem where the agents minimize…
We demonstrate that chaos can be controlled using a multiplicative exponential feedback control. All three types of unstable orbits - unstable fixed points, limit cycles and chaotic trajectories can be stabilized using this control. The…
For most existing prescribed performance formation control methods, performance requirements are not directly imposed on the relative states between agents but on the consensus error, which lacks a clear physical interpretation of their…
Closed bipartite quantum systems subject to fast local unitary control are studied using quantum optimal control theory and a method of reduced control systems based on the Schmidt decomposition. Particular focus is given to the…
We propose a hybrid feedback control law that guarantees both safety and asymptotic stability for a class of Lagrangian systems in environments with obstacles. Rather than performing trajectory planning and implementing a…
We study optimal design problems involving variational inequalities with unilateral conditions in the domain and pointwise boundary observation. We use regularizing and penalization tehniques in the setting of the Hamiltonian approach to…
The aim of this paper is fourfold. Firstly, we introduce and study the f-ultra-harmonic maps. Secondly, we recall the geometric dynamics generated by a first order normal PDE system and we give original results regarding the geometric…
In this paper, we present a framework for solving continuous optimal control problems when the true system dynamics are approximated through an imperfect model. We derive a control strategy by applying Pontryagin's Minimum Principle to the…
This paper investigates the intrinsic formation problem of a multi-agent system using an exogenous system. The problem is formulated as an intrinsic infinite time-horizon linear quadratic optimal control problem, namely, no formation error…
This paper establishes a unified element-based framework for formation control by introducing the concept of the deformation gradient from continuum mechanics. Unlike traditional methods that rely on geometric constraints defined on graph…
The anticipated launch of fully autonomous vehicles presents an opportunity to develop and implement novel traffic management systems. Intersections are one of the bottlenecks for urban traffic, and thus offer tremendous potential for…
Complex social systems are composed of interconnected individuals whose interactions result in group behaviors. Optimal control of a real-world complex system has many applications, including road traffic management, epidemic prevention,…
To study discrete dynamical systems of different types --- deterministic, statistical and quantum --- we develop various approaches. We introduce the concept of a system of discrete relations on an abstract simplicial complex and develop…
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…
Ensemble control, an emerging research field focusing on the study of large populations of dynamical systems, has demonstrated great potential in numerous scientific and practical applications. Striking examples include pulse design for…
Inhomogeneity, in its many forms, appears frequently in practical physical systems. Readily apparent in quantum systems, inhomogeneity is caused by hardware imperfections, measurement inaccuracies, and environmental variations, and…
Model predictive control (MPC) faces significant limitations when applied to systems evolving on nonlinear manifolds, such as robotic attitude dynamics and constrained motion planning, where traditional Euclidean formulations struggle with…
In various physical implementations of quantum information processing, qubits are realized in a Lambda type system configuration as two stable lower energy levels coupled indirectly via an unstable higher energy level, that is, in…
This paper considers a novel problem of how to choose an appropriate geometry for a group of agents with only shape constraints but with a flexible scale. Instead of assigning the formation system with a specific geometry, here the only…