Related papers: A coordinate-free theory of virtual holonomic cons…
This paper studies the problem of controlling linear dynamical systems subject to point-wise-in-time constraints. We present an algorithm similar to online gradient descent, that can handle time-varying and a priori unknown convex cost…
In order to increase the efficiency of the computer simulation of biological molecules, it is very common to impose holonomic constraints on the fastest degrees of freedom; normally bond lengths, but also possibly bond angles. However, as…
We consider quantum mechanical gauge theories with sixteen supersymmetries. The Hamiltonians or Lagrangians characterizing these theories can contain higher derivative terms. In the operator approach, we show that the free theory is…
In this manuscript, we investigate symbolic abstractions that capture the behavior of piecewise-affine systems under input constraints and bounded external noise. This is accomplished by considering local affine feedback controllers that…
We apply methods of the so-called `inverse problem of the calculus of variations' to the stabilization of an equilibrium of a class of two-dimensional controlled mechanical systems. The class is general enough to include, among others, the…
The quantum dynamics of a driven single-band tight-binding model with different boundary conditions is considered. The relation between the Hamiltonian describing the single-band tight-binding dynamics and the Hamiltonian of a…
Models involving hybrid systems are versatile in their application but difficult to optimize efficiently due to their combinatorial nature. This work presents a method to cope with hybrid optimal control problems which, in contrast to…
Modern data-driven control applications call for flexible nonlinear models that are amenable to principled controller synthesis and realtime feedback. Many nonlinear dynamical systems of interest are control affine. We propose two novel…
The Dirac-Bergmann algorithm is a recipe for converting a theory with a singular Lagrangian into a constrained Hamiltonian system. Constrained Hamiltonian systems include gauge theories -- general relativity, electromagnetism, Yang Mills,…
Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their practicality. To address this…
A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…
We construct an operational formulation of classical mechanics without presupposing previous results from analytical mechanics. In doing so, several concepts from analytical mechanics will be rediscovered from an entirely new perspective.…
In this paper, we propose a projection-free power-limiting droop control for grid-connected power electronics and an associated constrained flow problem. In contrast to projection-based power-limiting droop control, the novel…
The long time behavior and detailed convergence analysis of Langevin equations has received increased attention over the last years. Difficulties arise from a lack of coercivity, usually termed hypocoercivity, of the underlying kinetic…
We analyze two reduction methods for nonholonomic systems that are invariant under the action of a Lie group on the configuration space. Our approach for obtaining the reduced equations is entirely based on the observation that the dynamics…
It has been shown recently that optimal control problems with the dynamical constraint given by a second order system admit a regular Lagrangian formulation. This implies that the optimality conditions can be obtained in a new form based on…
We study the low temperature dynamics of a two dimensional short-range spin system with uniform ferromagnetic interactions, which displays glassiness at low temperatures despite the absence of disorder or frustration. The model has a dual…
This paper introduces a new global dynamics and chaos indicator based on the method of Lagrangian Descriptor apt for discriminating ordered and deterministic chaotic motions in multidimensional systems. The selected implementation of this…
Finding optimal trajectories for multiple traffic demands in a congested network is a challenging task. Optimal transport theory is a principled approach that has been used successfully to study various transportation problems. Its usage is…
Even though a variety of methods have been proposed in the literature, efficient and effective latent-space control (i.e., control in a learned low-dimensional space) of physical systems remains an open challenge. We argue that a promising…