Related papers: Controller Design for Systems on Manifolds in Eucl…
Trajectory tracking for the kinematic unicycle has been heavily studied for several decades. The unicycle admits a natural $\SE(2)$ symmetry, a key structure exploited in many of the most successful nonlinear controllers in the literature.…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
The arrangement of network nodes in hyperbolic spaces has become a widely studied problem, motivated by numerous results suggesting the existence of hidden metric spaces behind the structure of complex networks. Although several methods…
Control theory deals with the study of controlling dynamical systems. Robots today are growing increasingly complex and moving out of factory floors to real world environment. These robots have to interact with real world environment…
We study affine control systems on smooth manifolds and their complete lifts to the tangent bundle, providing an explicit geometric description of the solutions of the lifted system. We show that, although controllability of the complete…
Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
Projective geometry provides the preferred framework for most implementations of Euclidean space in graphics applications. Translations and rotations are both linear transformations in projective geometry, which helps when it comes to…
We propose a new quantum numerical scheme to control the dynamics of a quantum walker in a two dimensional space-time grid. More specifically, we show how, introducing a quantum memory for each of the spatial grid, this result can be…
Parameter selection is one of the most important parts for nearly all the control strategies. Traditionally, controller parameters are chosen by utilizing trial and error, which is always tedious and time consuming. Moreover, such method is…
Robustness is a basic property of any control system. In the context of linear output regulation, it was proved that embedding an internal model of the exogenous signals is necessary and sufficient to achieve tracking of the desired…
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…
We describe a particular control method for a system controlled by several actuators with the same control constants. We show under certain assumptions that the control constants for the whole system can be obtained immediately from the…
There is a growing interest in adopting object technologies for the development of real-time control systems. Several commercial tools, currently available, provide object-oriented modeling and design support for real-time control systems.…
We study Euclidean designs from the viewpoint of the potential energy. For a finite set in Euclidean space, We formulate a linear programming bound for the potential energy by applying harmonic analysis on a sphere. We also introduce the…
This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of…
Delay-coordinate maps have been widely used recently to study nonlinear dynamical systems, where there is only access to the time series of one of their variables. Here, we show how the partial control method can be applied in this kind of…
While compactness is an essential assumption for many results in dynamical systems theory, for many applications the state space is only locally compact. Here we provide a general theory for compactifying such systems, i.e. embedding them…
We introduce a general formalism, based on the stochastic formulation of quantum mechanics, to obtain localized quasi-classical wave packets as dynamically controlled systems, for arbitrary anharmonic potentials. The control is in general…
We study a non-local hydrodynamic system with control. First we characterize the control dynamics as a sub-optimal approximation to the optimal control problem constrained to the evolution of the pressureless Euler alignment system. We then…