Related papers: A note on Hybrid Routh reduction for time-dependen…
This paper focuses on robust stability and $H_\infty$ performance analyses of hybrid continuous/discrete time linear multi-rate control systems in the presence of parametric uncertainties. These affect the continuous-time plant in a…
Noether and Lie symmetry analyses based on point transformations that depend on time and spatial coordinates will be reviewed for a general class of time-dependent Hamiltonian systems. The resulting symmetries are expressed in the form of…
The sliding mode approach is recognized as an efficient tool for treating the chattering behavior in hybrid systems. However, the amplitude of chattering, by its nature, is proportional to magnitude of discontinuous control. A possible…
Many complex engineering systems consist of multiple subsystems that are developed by different teams of engineers. To analyse, simulate and control such complex systems, accurate yet computationally efficient models are required. Modular…
No mixed research of hybrid and fractional-order systems into a cohesive and multifaceted whole can be found in the literature. This paper focuses on such a synergistic approach of the theories of both branches, which is believed to give…
Constrained blackbox optimization is a difficult problem, with most approaches coming from the mathematical programming literature. The statistical literature is sparse, especially in addressing problems with nontrivial constraints. This…
Lagrangian multiform theory is a variational framework for integrable systems. In this article we introduce a new formulation which is based on symplectic geometry and which treats position, momentum and time coordinates of a…
This paper shows how to compute, for probabilistic hybrid systems, the clock approximation and linear phase-portrait approximation that have been proposed for non probabilistic processes by Henzinger et al. The techniques permit to define a…
Studying high-dimensional Hamiltonian systems with microstructure, it is an important and challenging problem to identify reduced macroscopic models that describe some effective dynamics on large spatial and temporal scales. This paper…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
A fast algorithm to study one-dimensional self-gravitating systems, and, more generally, systems that are Lagrangian integrable between collisions, is presented. The algorithm is event-driven, and uses a heap-ordered set of predicted future…
The goal of this paper is to develop energy-preserving variational integrators for time-dependent mechanical systems with forcing. We first present the Lagrange-d'Alembert principle in the extended Lagrangian mechanics framework and derive…
This paper surveys various results concerning stability for the dynamics of Lagrangian (or Hamiltonian) systems on compact manifolds. The main, positive results state, roughly, that if the configuration manifold carries a hyperbolic metric,…
It is well known that the Lagrangian and Hamiltonian descriptions of field theories are equivalent at the discrete time level when variational integrators are used. Besides the symplectic Hamiltonian structure, many physical systems exhibit…
Systems of differential equations with state-dependent delay are considered. The delay dynamically depends on the state i.e. is governed by an additional differential equation. By applying the time transformations we arrive to constant…
In this paper, a new approach for constructing Lagrangians for driven and undriven linearly damped systems is proposed, by introducing a redefined time coordinate and an associated coordinate transformation to ensure that the resulting…
This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…
Despite the many applications of rate-independent systems, their regularity theory is still largely unexplored. Usually, only weak solution with potentially very low regularity are considered, which requires non-smooth techniques. In this…
Motivated by robotic trajectory optimization problems we consider the Augmented Lagrangian approach to constrained optimization. We first propose an alternative augmentation of the Lagrangian to handle the inequality case (not based on…
The term "hybrid system" refers to a continuous time dynamical system that undergoes Markovian perturbations at discrete time intervals. In this paper, we find that under the right formulation, a hybrid system can be treated as a dynamical…