Related papers: Constraints on Nonlinear Finite Dimensional Flat S…
In this paper, we present a control synthesis framework for a general class of nonlinear, control-affine systems under spatiotemporal and input constraints. First, we study the problem of fixed-time convergence in the presence of input…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…
Aircraft models may be considered as flat if one neglects some terms associated to aerodynamics. Computational experiments in Maple show that in some cases a suitably designed feed-back allows to follow such trajectories, when applied to…
This work considers artificial feed-forward neural networks as parametric approximators in optimal control of discrete-time systems. Two different approaches are introduced to take polytopic input constraints into account. The first…
Control architectures are often implemented in a layered fashion, combining independently designed blocks to achieve complex tasks. Providing guarantees for such hierarchical frameworks requires considering the capabilities and limitations…
In this paper, a feature extraction approach for the deformable linear object is presented, which uses a Bezier curve to represent the original geometric shape. The proposed extraction strategy is combined with a parameterization technique,…
A new computationally simple method of imposing hard convex constraints on the neural network output values is proposed. The key idea behind the method is to map a vector of hidden parameters of the network to a point that is guaranteed to…
In a paper by Willems and coauthors it was shown that persistently exciting data can be used to represent the input-output behavior of a linear system. Based on this fundamental result, we derive a parametrization of linear feedback systems…
In this manuscript, we investigate symbolic abstractions that capture the behavior of piecewise-affine systems under input constraints and bounded external noise. This is accomplished by considering local affine feedback controllers that…
Slender beam-like structures frequently occur in engineering applications and often interact at discrete locations through joints or connectors. Accurate modeling of such interactions is particularly challenging when different numerical…
This paper considers the collision avoidance problem in a multi-agent multi-obstacle framework. The originality in solving this intensively studied problem resides in the proposed geometrical view combined with differential flatness for…
We study the set of intrinsic singularities of flat affine systems with $n-1$ controls and $n$ states using the notion of Lie-B\"acklund atlas, previously introduced by the authors. For this purpose, we prove two easily computable…
A class of quasi-distribution evaluation criteria based on piecewise Bezier curves is proposed to address the issue of the inability to objectively evaluate finite element models. During the optimization design of mechanical parts, finite…
The paper is an attempt to generalize a methodology, which is similar to the bounded-input bounded-output method currently widely used for the system stability studies. The presented earlier methodology allows decomposition of input space…
Differentially flat models are frequently used to design feedforward controllers for electromechanical systems. However, control performance depends on model accuracy, which makes feedback imperative. This paper presents a control scheme…
Given a finite-dimensional time continuous control system and $\varepsilon>0$, we address the question of the existence of controls that maintain the corresponding state trajectories in the $\varepsilon$-neighborhood of any prescribed path…
In a recent paper we have shown that data collected from linear systems excited by persistently exciting inputs during low-complexity experiments, can be used to design state- and output-feedback controllers, including optimal Linear…
We present data-based conditions for enforcing contractivity via feedback control and obtain desired asymptotic properties of the closed-loop system. We focus on unknown nonlinear control systems whose vector fields are expressible via a…
The present work establishes necessary and sufficient conditions for a nonlinear system with two inputs to be described by a specific triangular form. Except for some regularity conditions, such triangular form is flat. This may lead to the…