Related papers: On Controller Design for Systems on Manifolds in E…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
In this paper we develop a geometric analysis and a numerical algorithm, based on indirect methods, to solve optimal guidance of endo-atmospheric launch vehicle systems under mixed control-state constraints. Two main difficulties are…
The controllability issue of control-affine systems on smooth manifolds is one of the main problems in the theory, and it is recently known [Jouan P. Equivalence of control systems with linear systems on Lie groups and homogeneous spaces.…
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…
Hybrid dynamical systems are viewed as the most complicated systems with continuous and event-based behaviors. Since traditional controllers cannot handle these systems, some newly-developed controllers have been published in recent decades…
Dynamical Systems (DS) are an effective and powerful means of shaping high-level policies for robotics control. They provide robust and reactive control while ensuring the stability of the driving vector field. The increasing complexity of…
This paper introduces new conditions for target output controllability and provides existence conditions for placing a specific number of poles with a target output controller. Additionally, an algorithm is presented for the design of a…
Very high dimensional nonlinear systems arise in many engineering problems due to semi-discretization of the governing partial differential equations, e.g. through finite element methods. The complexity of these systems present…
This paper presents a low-complexity, model-free, output-feedback controller for a class of unknown time-varying nonlinear systems with unknown input constraints. The controller achieves the preset control accuracy when the actuator is not…
Many problems in engineering, chemistry and physics require the representation of solutions in complex geometries. In the paper we deal with a problem of unstructured mesh generation for the control volume method. We propose an algorithm…
Hybrid systems are characterized by having an interaction between continuous dynamics and discrete events. The contribution of this paper is to provide hybrid systems with a novel geometric formulation so that controls can be added. Using…
Euclidean distance geometry is the study of Euclidean geometry based on the concept of distance. This is useful in several applications where the input data consists of an incomplete set of distances, and the output is a set of points in…
In model-predictive control (MPC), achieving the best closed-loop performance under a given computational resource is the underlying design consideration. This paper analyzes the MPC design problem with control performance and required…
Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…
The ability to control quantum systems using shaped fields as well as to infer the states of such controlled systems from measurement data are key tasks in the design and operation of quantum devices. Here we associate the success of…
A rotation in a Euclidean space V is an orthogonal map on V which acts locally as a plane rotation with some fixed angle. We give a classification of all pairs of rotations in finite-dimensional Euclidean space, up to simultaneous…
The techniques and analysis presented in this thesis provide new methods to solve optimization problems posed on Riemannian manifolds. These methods are applied to the subspace tracking problem found in adaptive signal processing and…
Current state-of-the-art correct-by-design controllers are designed for full-state measurable systems. This work first extends the applicability of correct-by-design controllers to partially observable LTI systems. Leveraging 2nd order…
An approach to stabilization of control systems with ultimately wide ranges of uncertainly disturbed parameters is offered. The method relies on using of nonlinear structurally stable functions from catastrophe theory as controllers.…
We study formation control problems. Our approach is to let a group of systems maximize their pairwise distances whilst bringing them all to a given submanifold, determining the shape of the formation. The algorithm we propose allows to…