Related papers: On Controller Design for Systems on Manifolds in E…
A path-following control algorithm enables a system's trajectories under its guidance to converge to and evolve along a given geometric desired path. There exist various such algorithms, but many of them can only guarantee local convergence…
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.…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
Model Predictive Control (MPC) is a powerful and flexible design tool of high-performance controllers for physical systems in the presence of input and output constraints. A challenge for the practitioner applying MPC is the need of tuning…
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…
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich…
In this paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical optimization problems. The aforementioned problems are defined…
We develop a model predictive control (MPC) design for systems with discrete-time dynamics evolving on smooth manifolds. We show that the properties of conventional MPC for dynamics evolving on $\mathbb R^n$ are preserved and we develop a…
The paper presents a novel approach to synthesize robust controllers for nonlinear systems along perturbed trajectories. The approach linearizes the system with respect to a reference trajectory. In contrast to existing methods rooted in…
This paper presents an overview of recent developments in the analysis of shapes such as curves and surfaces through Riemannian metrics. We show that several constructions of metrics on spaces of submanifolds can be unified through the…
Finite-dimensional dissipative dynamical systems with multiple time-scales are obtained when modeling chemical reaction kinetics with ordinary differential equations. Such stiff systems are computationally hard to solve and therefore,…
Sequential Convex Programming (SCP) has recently gained popularity as a tool for trajectory optimization due to its sound theoretical properties and practical performance. Yet, most SCP-based methods for trajectory optimization are…
We present an approach to design stabilizing controllers for a set of linear systems without restrictions regarding their modeling order. To this end, the systems are treated as abstract objects in the space of the $\nu$-gap metric. Via a…
Landmark manifolds consist of a collection of distinct points, and dynamics on this manifold can be used to represent flows, such as solutions of ODEs and flows deforming a shape. We will consider landmark configurations in the Euclidean…
This paper presents a new technique for the design of approximate reasoning based controllers for dynamic physical systems with interacting goals. In this approach, goals are achieved based on a hierarchy defined by a control knowledge base…
Dimension-varying linear systems are investigated. First, a dimension-free state space is proposed. A cross dimensional distance is constructed to glue vectors of different dimensions together to form a cross-dimensional topological space.…
The paper deals with local robust feedback synthesis for systems with multidimensional control and unknown bounded perturbations. Using V.~I.~Korobov's controllability function method, we construct a bounded control which steers an…
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…
This paper presents a novel methodology to develop scheduling algorithms. The scheduling problem is phrased as a control problem, and control-theoretical techniques are used to design a scheduling algorithm that meets specific requirements.…
Imagine having a system to control and only know that it belongs to a certain class of dynamical systems. Would it not be amazing to simply plug in a controller and have it work as intended? With the rise of in-context learning and powerful…