Related papers: Stabilizing of a Class of Underactuated Euler Lagr…
This paper studies the safety-critical control problem for Euler-Lagrange (EL) systems subject to multiple ball obstacles and velocity constraints in accordance with affordable velocity ranges. A key strategy is to exploit the underlying…
We discuss matching control laws for underactuated systems. We previously showed that this class of matching control laws is completely charactarized by a linear system of first order partial differential equations for one set of variables…
Standard Eulerian--Lagrangian (EL) methods generally employ drag force models that only represent the mean hydrodynamic force acting upon a particle-laden suspension. Consequently, higher-order drag force statistics, arising from…
Energetic particle effects in magnetic confinement fusion devices are commonly studied by hybrid kinetic-fluid simulation codes whose underlying continuum evolution equations often lack the correct energy balance. While two different…
In this work, we develop a control-theoretic framework for constrained optimization problems with composite objective functions including non-differentiable terms. Building on the proximal augmented Lagrangian formulation, we construct a…
An in-domain finite dimensional controller for a class of distributed parameter systems on a one-dimensional spatial domain formulated under the port-Hamiltonian framework is presented. Based on [25] where positive feedback and a late…
A recent approach to the control of underactuated systems is to look for control laws which will induce some specified structure on the closed loop system. This basic idea is used in several papers already. In this paper, we will describe…
This article proposes a periodic event-triggered adaptive barrier control policy for the trajectory tracking problem of perturbed Euler-Lagrangian systems with state, input, and temporal (SIT) constraints. In particular, an…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
In this paper we present a procedure to integrate, up to quadratures, the matching conditions of the energy shaping method. We do that in the context of underactuated Hamiltonian systems defined by simple Hamiltonian functions. For such…
In this paper, a quadratic optimal control problem is considered for second-order parabolic PDEs with homogeneous Dirichlet boundary conditions, in which the "point" control function (depending only on time) constitutes a source term. These…
Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and drones. However, methods rooted in this…
This paper investigates a symmetric dual-wind discontinuous Galerkin (DWDG) method for solving an elliptic optimal control problem with control constraints. The governing constraint is an elliptic partial differential equation (PDE), which…
This work addresses the imposition of outflow boundary conditions for one-dimensional conservation laws. While a highly accurate numerical solution can be obtained in the interior of the domain, boundary discretization can lead to…
In this paper we present a novel approach for the prescription of high order boundary conditions when approximating the solution of the Euler equations for compressible gas dynamics on curved moving domains. When dealing with curved…
High performance tracking control can only be achieved if a good model of the dynamics is available. However, such a model is often difficult to obtain from first order physics only. In this paper, we develop a data-driven control law that…
We investigate equilibria of charged deformable materials via the minimization of an electroelastic energy. This features the coupling of elastic response and electrostatics by means of a capacitary term, which is naturally defined in…
The study is devoted to mathematical modeling and optimal control design of longitudinal motions of a rectilinear elastic rod. The control inputs are a force, which is normal to the cross section and distributed piecewise constantly along…
In this article we present a new family of high order accurate Arbitrary Lagrangian-Eulerian one-step WENO finite volume schemes for the solution of stiff hyperbolic balance laws. High order accuracy in space is obtained with a standard…
This paper addresses the regulation and trajectory-tracking problems for two classes of weakly coupled electromechanical systems. To this end, we formulate an energy-based model for these systems within the port-Hamiltonian framework. Then,…