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In this paper we investigate a linear chain of qubits and determine that it can be configured into a conditional two-qubit swapping gate, where the first and last qubits of the chain are the swapped qubits, and the remaining middle ancilla…
In this paper we consider $(x,u)$-flat nonlinear control systems with two inputs, and show that every such system can be rendered static feedback linearizable by prolongations of a suitably chosen control. This result is not only of…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and…
In this paper, a new control scheme, called additive state decomposition based tracking control, is proposed to solve the tracking (rejection) problem for rotational position of the TORA (a nonlinear nonminimum phase system). By the…
"Synchronization of two dynamical systems" is the term used to describe the phenomenon when two or more systems gradually change their states or behaviors to become similar or identical. This can happen in a lot of fields, such as physics,…
Understanding how higher-order interactions affect collective behavior is a central problem in nonlinear dynamics and complex systems. Most works have focused on a single higher-order coupling function, neglecting other viable choices. Here…
We present a three-step method to perform system identification and optimal control of non-linear systems. Our approach is mainly data driven and does not require active excitation of the system to perform system identification. In…
The increasing deployment of multi-agent systems (MAS) in critical infrastructures such as autonomous transportation, disaster relief, and smart cities demands robust formation control mechanisms resilient to adversarial attacks.…
This paper proposes a new robust control method for quantum systems with uncertainties involving sliding mode control (SMC). Sliding mode control is a widely used approach in classical control theory and industrial applications. We show…
This paper focuses on the invariance control problem for discrete-time switched nonlinear systems. The proposed approach computes controlled invariant sets in a finite number of iterations and directly yields a partition-based invariance…
The main purpose of this paper is the study of second-order optimality conditions for the bilinear control of a strongly degenerate parabolic equation. The equation is degenerate at the boundary of the spatial domain. The well-posedness of…
For systems that are not observable at the very equilibrium of interest to be stabilized, output-feedback stabilization is considerably challenging. In this paper we solve this control problem for the case-study of a second-order system…
Two-dimensional systems with time-dependent controls admit a quadratic Hamiltonian modelling near potential minima. Independent, dynamical normal modes facilitate inverse Hamiltonian engineering to control the system dynamics, but some…
Vehicular formation control is an important component of intelligent transportation systems (ITSs). In practical implementations, the controller design needs to satisfy multiple state constraints, including inter-vehicle spacing and vehicle…
Information flow in quantum spin networks is considered. Two types of control -- temporal bang-bang switching control and control by varying spatial degrees of freedom -- are explored and shown to be effective in speeding up information…
Distributed formation maneuver control refers to the problem of maneuvering a group of agents to change their formation shape by adjusting the motions of partial agents, where the controller of each agent only requires local information…
An integral extension of state-feedback controllers for linear time-varying plants is proposed, which preserves performance of the nominal controller in the unperturbed case. Similar to time-invariant state feedback with integral action,…
This article proposes a "cross-forming" control concept for grid-forming inverters operating against grid faults. Cross-forming refers to voltage angle forming and current magnitude forming. It differs from classical grid-forming and…
This paper discusses the systematic design of an adaptive feedback linearizing neurocontroller for a high-order model of the synchronous machine/infinite bus power system. The power system is first modelled as an input-output nonlinear…