Related papers: Periodic trajectory tracking for control-affine dr…
This paper deals with an isoperimetric optimal control problem for nonlinear control-affine systems with periodic boundary conditions. As it was shown previously, the candidates for optimal controls for this problem can be obtained within…
In this paper we study the problem of designing periodic orbits for a special class of hybrid systems, namely mechanical systems with underactuated continuous dynamics and impulse events. We approach the problem by means of optimal control.…
In this paper, we characterize the accessibility of discrete-time linear control systems on Lie groups. Using an exceptional notion of derivative, we construct a subalgebra $\mathfrak{h}$ based on the infinitesimal automorphism of the…
In this paper, the problem of partial stabilization of nonlinear systems along a given trajectory is considered. This problem is treated within the framework of stability of a family of sets. Sufficient conditions for the asymptotic…
This paper examines impulsive non-autonomous systems with grazing periodic solutions. Surfaces of discontinuity and impact functions of the systems are not depending on the time variable. That is, we can say that the impact conditions are…
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…
We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following…
In Model Predictive Control (MPC) formulations of trajectory tracking problems, infeasible reference trajectories and a-priori unknown constraints can lead to cumbersome designs, aggressive tracking, and loss of recursive feasibility. This…
In this paper, we propose new conditions guaranteeing that the trajectories of a mechanical control system can track any curve on the configuration manifold. We focus on systems that can be represented as forced affine connection control…
In this paper we consider the problem of stabilization and tracking of desired state trajectory for a wide range of nonlinear control problems with disturbances. We present the sufficient conditions for the existence of $C^k$ state feedback…
In the paper below we consider a problem of stabilization of a priori unknown unstable periodic orbits in non-linear autonomous discrete dynamical systems. We suggest a generalization of a non-linear DFC scheme to improve the rate of…
Consider a periodically forced nonlinear system which can be presented as a collection of smaller subsystems with pairwise interactions between them. Each subsystem is assumed to be a massive point moving with friction on a compact surface,…
The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering…
Time delayed feedback control is one of the most successful methods to discover dynamically unstable features of a dynamical system in an experiment. This approach feeds back only terms that depend on the difference between the current…
Periodic orbits are important objects of discrete dynamical systems, but finding them is not always easy. We present a self-contained introductory account, aimed at non-experts, to prove their existence and study their stability using the…
In this paper, problems of optimal control are considered where in the objective function, in addition to the control cost there is a tracking term that measures the distance to a desired stationary state. The tracking term is given by some…
The Conley theory has a tool to guarantee the existence of periodic trajectories in isolating neighborhoods of semi-dynamical systems. We prove that the positive trajectories generated by a piecewise-smooth vector field $Z=(X, Y)$ defined…
In this paper we provide conditions to ensure the existence, for $e>0$ sufficiently small, of periodic solutions of given period $T>0$ in a prescribed domain $U$ for a class of singularly perturbed first order differential systems. Here…
Structural controllability challenges arise from imprecise system modeling and system interconnections in large scale systems. In this paper, we study structural control of bilinear systems on the special Euclidean group. We employ graph…
We prove the existence of at least $cl(M)$ periodic orbits for certain time dependant Hamiltonian systems on the cotangent bundle of an arbitrary compact manifold $M$. These Hamiltonians are not necessarily convex but they satisfy a certain…