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Many Embedded Systems are indeed Software Based Control Systems, that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design approaches…
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…
We discuss a mathematical framework for analysis of optimal control problems on infinite-dimensional manifolds. Such problems arise in study of optimization for partial differential equations with some symmetry. It is shown that some…
Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…
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…
New quadrotor UAV control algorithms are developed, based on nonlinear surfaces composed of tracking errors that evolve directly on the nonlinear configuration manifold, thus inherently including in the control design the nonlinear…
A mini scale helicopter exhibits not only increased sensitivity to control inputs and disturbances, but also higher bandwidth of its dynamics. These properties make model helicopters, as a flying robot, more difficult to control. The…
This paper proposes a robust control method based on sliding mode design for two-level quantum systems with bounded uncertainties. An eigenstate of the two-level quantum system is identified as a sliding mode. The objective is to design a…
We outline a method for controlling the location of stable and unstable manifolds in the following sense. From a known location of the stable and unstable manifolds in a steady two-dimensional flow, the primary segments of the manifolds are…
The successful application of Quantum Optimal Control (QOC) over the past decades unlocked the possibility of directing the dynamics of quantum systems. Nevertheless, solutions obtained from QOC algorithms are usually highly irregular,…
Optimal control problems are formulated and efficient computational procedures are proposed for combined orbital and rotational maneuvers of a rigid body in three dimensions. The rigid body is assumed to act under the influence of forces…
We present a scheme for controlling the state of a quantum system by modifying the boundary conditions. This constitutes an infinite-dimensional control problem. We provide conditions for the existence of solutions of the dynamics and prove…
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…
Finite abstractions (a.k.a. symbolic models) offer an effective scheme for approximating the complex continuous-space systems with simpler models in the discrete-space domain. A crucial aspect, however, is to establish a formal relation…
The study of controlled hybrid systems requires practical tools for approximation and comparison of system behaviors. Existing approaches to these problems impose undue restrictions on the system's continuous and discrete dynamics.…
In many robot motion planning problems, task objectives and physical constraints induce non-Euclidean geometry on the configuration space, yet many planners operate using Euclidean distances that ignore this structure. We address the…
Neuromorphic control is receiving growing attention due to the multifaceted advantages it brings over more classical control approaches, including: sparse and on-demand sensing, information transmission, and actuation; energy-efficient…
Multidimensional scaling (MDS) is a popular technique for mapping a finite metric space into a low-dimensional Euclidean space in a way that best preserves pairwise distances. We overview the theory of classical MDS, along with its…
We consider the problem of modeling, estimating, and controlling the latent state of a spatiotemporally evolving continuous function using very few sensor measurements and actuator locations. Our solution to the problem consists of two…
In this article, we give a condition for the global controllability of affine nonlinear control systems with drifts on Euclidean spaces. Under regularity assumptions, the condition is necessary and sufficient in the codimension-1 and…