Related papers: On Differential Geometric Approach to Nonlinear Sy…
Formation control deals with the design of decentralized control laws that stabilize mobile, autonomous agents at prescribed distances from each other. We call any configuration of the agents a target configuration if it satisfies the…
The numerical approximation of convection-dominated problems continues to remain subject of strong interest. Families of stabilization techniques for finite element methods were developed in the past. Adaptive techniques based on a…
In this work we study the problem of step size selection for numerical schemes, which guarantees that the numerical solution presents the same qualitative behavior as the original system of ordinary differential equations, by means of tools…
For affine control systems with bounded control range the control sets, i.e., the maximal subsets of complete approximate controllability, are studied using spectral properties. For hyperbolic systems there is a unique control set with…
This thesis addresses the question of stability of systems defined by differential equations which contain nonlinearity and delay. In particular, we analyze the stability of a well-known delayed nonlinear implementation of a certain…
Planning trajectories for nonholonomic systems is difficult and computationally expensive. When facing unexpected events, it may therefore be preferable to deform in some way the initially planned trajectory rather than to re-plan entirely…
Motivated by research on contraction analysis and incremental stability/stabilizability the study of 'differential properties' has attracted increasing attention lately. Previously lifts of functions and vector fields to the tangent bundle…
Generalized parameter estimation-based observers have proven very successful to deal with systems described in state-affine form. In this paper, we enlarge the domain of applicability of this method proposing an algebraic procedure to…
Linear systems of neutral type are considered using the infinite dimensional approach. The main problems are asymptotic, non-exponential stability, exact controllability and regular asymptotic stabilizability. The main tools are the moment…
We present a new method for motion planning for control systems. The method aims to provide a natural computational framework in which a broad class of motion planning problems can be cast; including problems with holonomic and…
The article gives an overview of the parameter numerical continuation methodology applied to setpoint control and parameter identification of nonlinear systems. The control problems for affine systems as well as general (nonaffine)…
Nonlinear optimal control problems for trajectory planning with obstacle avoidance present several challenges. While general-purpose optimizers and dynamic programming methods struggle when adopted separately, their combination enabled by a…
Recently, a novel linear model predictive control algorithm based on a physics-informed Gaussian Process has been introduced, whose realizations strictly follow a system of underlying linear ordinary differential equations with constant…
We consider covariance control problems for nonlinear stochastic systems. Our objective is to find an optimal control strategy to steer the state from an initial distribution to a terminal one with specified mean and covariance. This…
We propose a semi-discrete numerical scheme and establish well-posedness of a class of parabolic systems. Such systems naturally arise while studying the optimal control of grain boundary motions. The latter is typically described using a…
A method is developed within an adaptive framework to solve quasilinear diffusion problems with internal and possibly boundary layers starting from a coarse mesh. The solution process is assumed to start on a mesh where the problem is badly…
We study here systems of symmetries on $|1|$--graded parabolic geometries. We are interested in smooth systems of symmetries and we discuss non--flat homogeneous $|1|$--graded geometries. We show the existence of an invariant admissible…
Aim of this work is the study of differential equations governing non--dissipative non--linear oscillators; these arise in different physical models such as the treatment of relativistic oscillators, up to generalizations to Duffing's…
A nonlinear partial differential equation is a nonlinear relationship between an unknown function and how it changes due to two or more input variables. A numerical method reduces such an equation to arithmetic for quick visualization, but…
In the formation control problem for autonomous robots a distributed control law steers the robots to the desired target formation. A local stability result of the target formation can be derived by methods of linearization and center…