Related papers: Controller Design for Systems on Manifolds in Eucl…
Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed…
The scope of this work is to provide a self-contained introduction to a selection of basic theoretical aspects in the modeling and control of quantum mechanical systems, as well as a brief survey on the main approaches to control synthesis.…
It is first shown that a smooth controllable system on a compact manifold is finite time controllable. The technique of proof is close to the one of Sussmann's orbit theorem, and no rank condition is required. This technique is also used to…
We consider the general bilinear control systems in three-dimensional Euclidean space which satisfy the LARC and have an open control set U; and give sufficient controllability conditions for corresponding projected systems on…
Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…
Discrete control systems, as considered here, refer to the control theory of discrete-time Lagrangian or Hamiltonian systems. These discrete-time models are based on a discrete variational principle, and are part of the broader field of…
In the control of many autonomous subsystems, such as autonomous vehicles or UAV networks, a centralized control may be hindered by the prohibitive complexity, limited communication bandwidth, or private information of subsystems.…
In the era of foundation models and Large Language Models (LLMs), Euclidean space has been the de facto geometric setting for machine learning architectures. However, recent literature has demonstrated that this choice comes with…
Control schemes for dynamical systems typically involve stabilizing unstable periodic orbits. In this paper we introduce a new paradigm of control that involves `trapping' the dynamics arbitrarily close to any desired trajectory. This is…
Recent literature has shown that symbolic data, such as text and graphs, is often better represented by points on a curved manifold, rather than in Euclidean space. However, geometrical operations on manifolds are generally more complicated…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
We propose a modification technique for discrete time systems for exponentially fast convergence to compact sets. The extension technique allows us to use tools defined on Euclidean spaces to systems evolving on manifolds by modifying the…
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…
We investigate the controllability of an infinite-dimensional quantum system: a quantum particle confined on a Thick Quantum Graph, a generalisation of Quantum Graphs whose edges are allowed to be manifolds of arbitrary dimension with…
Multidimensional systems coupled via complex networks are widespread in nature and thus frequently invoked for a large plethora of interesting applications. From ecology to physics, individual entities in mutual interactions are grouped in…
Representing graphs as sets of node embeddings in certain curved Riemannian manifolds has recently gained momentum in machine learning due to their desirable geometric inductive biases, e.g., hierarchical structures benefit from hyperbolic…
We consider the problem of bridging the gap between geometric tracking control theory and implementation of model predictive control (MPC) for robotic systems operating on manifolds. We propose a generic on-manifold MPC formulation based on…
In this paper, we propose a retrofit control method for stable network systems. The proposed approach is a control method that, rather than an entire system model, requires a model of the subsystem of interest for controller design. To…
Studying structural properties of linear dynamical systems through invariant subspaces is one of the key contributions of the geometric approach to system theory. In general, a model of the dynamics is required in order to compute the…
For a partially unknown linear systems, we present a systematic control design approach based on generated data from measurements of closed-loop experiments with suitable test controllers. These experiments are used to improve the achieved…