Related papers: Periodic trajectory tracking for control-affine dr…

We propose a model-based approach to design feedback policies for dexterous robotic manipulation. The manipulation problem is formulated as reaching the target region from an initial state for some non-smooth nonlinear system. First, we use…

Given a finite-dimensional time continuous control system and $\varepsilon>0$, we address the question of the existence of controls that maintain the corresponding state trajectories in the $\varepsilon$-neighborhood of any prescribed path…

Automated vehicles need to estimate tire-road friction information, as it plays a key role in safe trajectory planning and vehicle dynamics control. Notably, friction is not solely dependent on road surface conditions, but also varies…

For the classical N-body problem, an approach is proposed based on the introduction of some natural in the physical sense optimization problems of mathematical programming for finding a conditional minimum for the characteristics of the…

We study a classical multiparticle system (such as Toda lattice) whose dynamics we intend to control by forces applied to few particles of the system. Various problem settings, typical for control theory are posed for this model; among…

We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…

Inspired by the classical Poincar\'e criterion about the instability of orientation preserving minimizing closed geodesics on surfaces, we investigate the relation intertwining the instability and the variational properties of periodic…

We consider discrete-time switching systems composed of a finite family of affine sub-dynamics. First, we recall existing results and present further analysis on the stability problem, the existence and characterization of compact…

We consider the problem of proving that each point in a given set of states ("target set") can indeed be reached by a given nondeterministic continuous-time dynamical system from some initial state. We consider this problem for abstract…

We demonstrate with a minimal example that in Filippov systems (dynamical systems governed by discontinuous but piecewise smooth vector fields) stable periodic motion with sliding is not robust with respect to stable singular perturbations.…

This paper generalizes recent results by the authors on noninvasive model-reference adaptive control designs for control-based continuation of periodic orbits in periodically excited linear systems with matched uncertainties to a larger…

In this paper we consider piecewise affine differential equations modeling gene networks. We work with arbitrary decay rates, and under a local hypothesis expressed as an alignment condition of successive focal points. The interaction graph…

This paper addresses questions regarding controllability for `generic parameter' dynamical systems, i.e. the question whether a dynamical system is `structurally controllable'. Unlike conventional methods that deal with structural…

For controlling periodic orbits with delayed feedback methods the periodicity has to be known a priori. We propose a simple scheme, how to detect the period of orbits from properties of the control signal, at least if a periodic but…

This paper explores the concept of topological transitivity in nonautonomous dynamical systems, which are defined as sequences of continuous maps from a compact metric space to itself. It investigates various conditions (including…

We face the problem of characterizing the periodic cases in parametric families of (real or complex) rational diffeomorphisms having a fixed point. Our approach relies on the Normal Form Theory, to obtain necessary conditions for the…

We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a…

In this paper we study affine and bilinear systems on Lie groups. We show that there is an intrinsic connection between the solutions of both systems. Such relation allows us to obtain some preliminary controllability results of affne…

The paper presents an approach to the construction of stabilizing feedback for strongly nonlinear systems. The class of systems of interest includes systems with drift which are affine in control and which cannot be stabilized by continuous…

We define a random walk problem which admits analytic results, on a class of infinite periodic lattices which are directed and colored. Our approach is motivated from the fact that such lattices arise in string theoretic constructs of…