Related papers: Global controllability tests for geometric hybrid …
The model-checking problem for hybrid systems is a well known challenge in the scientific community. Most of the existing approaches and tools are limited to safety properties only, or operates by transforming the hybrid system to be…
Robotic research over the last decades have lead us to different architectures to automatically synthesise discrete event controllers and implement these motion and task plans in real-world robot scenarios. However, these architectures…
During modeling of dynamical systems, often two or more model architectures are combined to obtain a more powerful or efficient model regarding a specific application area. This covers the combination of multiple machine learning…
The problem of robustly, asymptotically stabilizing a point (or a set) with two output-feedback hybrid controllers is considered. These control laws may have different objectives, e.g., the closed-loop systems resulting with each controller…
This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…
This paper presents four types of tracking control systems for the attitude dynamics of a rigid body. First, a smooth control system is constructed to track a given desired attitude trajectory, while guaranteeing almost semi-global…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
Controllability of chemical reactions is an important problem in chemical engineering science. In control theory, analysis of the controllability of linear systems is well-founded, however the dynamics of chemical reactions is usually…
Formal verification provides strong safety guarantees but only for models of cyber-physical systems. Hybrid system models describe the required interplay of computation and physical dynamics, which is crucial to guarantee what computations…
We prove controllability results for abstract systems of weakly coupled $N$ evolution equations in cascade by a reduced number of boundary or locally distributed controls ranging from a single up to $N-1$ controls. We give applications to…
In hybrid force-velocity control, the robot can use velocity control in some directions to follow a trajectory, while performing force control in other directions to maintain contacts with the environment regardless of positional errors. We…
Quantum systems with dynamical symmetries have conserved quantities which are preserved under coherent controls. Therefore such systems can not be completely controlled by means of only coherent control. In particular, for such systems…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…
Hybrid dynamical systems have proven to be a powerful modeling abstraction, yet fundamental questions regarding the dynamical properties of these systems remain. In this paper, we develop a novel class of relaxations which we use to recover…
The literature is rich with studies, analyses, and examples on parameter estimation for describing the evolution of chaotic dynamical systems based on measurements, even when only partial information is available through observations.…
Sensitivity analysis of multibody systems computes the derivatives of general cost functions that depend on the system solution with respect to parameters or initial conditions. This work develops adjoint sensitivity analysis for hybrid…
A new class of control problems is discussed - homeostasis control. Homeostasis control problems can be considered as control problems with a given target set, in particular, as a problem of stabilizing the values of some target function,…
This paper is devoted to the controllability of a general linear hyperbolic system in one space dimension using boundary controls on one side. Under precise and generic assumptions on the boundary conditions on the other side, we previously…
We design and experimentally evaluate a hybrid safe-by-construction collision avoidance controller for autonomous vehicles. The controller combines into a single architecture the respective advantages of an adaptive controller and a…
Multidimensional systems coupled via complex networks are widespread in nature and thus frequently invoked for a large plethora of interesting applications. From ecology to physics, individual entities in mutual interactions are grouped in…