Related papers: Periodic trajectory tracking for control-affine dr…
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as a constrained optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a…
We will show that if a dynamical system has enough constants of motion then a Moser-Weinstein type theorem can be applied for proving the existence of periodic orbits in the case when the linearized system is degenerate.
It is quite often claimed, and correctly so, that linear methods cannot achieve global stability results for attitude control, and conversely that nonlinear control is essential in order to achieve (almost) globally stable tracking of…
This paper considers an adaptive tracking control problem for stochastic regression systems with multi-threshold quantized observations. Different from the existing studies for periodic reference signals, the reference signal in this paper…
Periodic orbits for the classical $\phi^4$ theory on the one dimensional lattice are systematically constructed by extending the normal modes of the harmonic theory, for periodic, fixed and free boundary conditions. Through the process, we…
In this paper we study an event based control algorithm for trajectory tracking in nonlinear systems. The desired trajectory is modelled as the solution of a reference system with an exogenous input and it is assumed that the desired…
The robust tracking and model following problem of linear discrete-time systems is investigated in this paper. An approach to design robust tracking controllers is proposed. The system is controlled to track dynamic inputs generated from a…
In this paper a family of non-autonomous scalar parabolic PDEs over a general compact and connected flow is considered. The existence or not of a neighbourhood of zero where the problems are linear has an influence on the methods used and…
We consider the dynamics of a collection of particles that interact pairwise and are restricted to move along the real line. Moreover, we focus on the situation in which particles undergo perfectly inelastic collisions when they collide.…
We study tracking-type optimal control problems that involve a non-affine, weak-to-weak continuous control-to-state mapping, a desired state $y_d$, and a desired control $u_d$. It is proved that such problems are always nonuniquely solvable…
This paper focuses on optimal mismatched disturbance rejection control for linear continuoustime uncontrollable systems. Different from previous studies, by introducing a new quadratic performance index to transform the mismatched…
The task of determining the origin of a drifting object after it has been located is highly complex due to the uncertainties in drift properties and environmental forcing (wind, waves and surface currents). Usually the origin is inferred by…
A previously published algorithm for trajectory tracking control of tethered wings, i.e. kites, is updated in light of recent experimental evidence. The algorithm is, furthermore, analyzed in the framework of delay differential equations.…
In this paper, we study linear control systems with positive bounded orbits. We show that the existence of positive bounded orbits imposes strong algebraic and topological constraints on the state space. In fact, a linear control system has…
In this paper targetability of chaotic sets with small controls is discussed by virtue of some results of geometric control theory. It is proved that given a chaotic set {\Lambda}, it is possible to steer a orbit in to every final state in…
We propose a semi-discrete numerical scheme and establish well-posedness of a class of parabolic systems. Such systems naturally arise while studying the optimal control of grain boundary motions. The latter is typically described using a…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Euclidean space rather than multiple local charts on the…
We consider control and inference problems where control protocols and internal dynamics are informed by two types of constraints. Our data consist of i) statistics on the ensemble and ii) trajectories or final disposition of selected…
In this paper, we study the Poisson stability (in particular, stationarity, periodicity, quasi-periodicity, Bohr almost periodicity, almost automorphy, recurrence in the sense of Birkhoff, Levitan almost periodicity, pseudo periodicity,…