Related papers: Geometric control of algebraic systems
We consider tilings of Euclidean spaces by polygons or polyhedra, in particular, tilings made by a substitution process, such as the Penrose tilings of the plane. We define an isomorphism invariant related to a subgroup of rotations and…
In this paper we investigate a relaxed concept of controllability, known in the literature as herdability, namely the capability of a system to be driven towards the(interior of the) positive orthant. Specifically, we investigate…
We consider the decidability of state-to-state reachability in linear time-invariant control systems over discrete time. We analyse this problem with respect to the allowable control sets, which in general are assumed to be defined by…
Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the…
In this paper we propose a constrained guaranteed cost robust model predictive controller (GCMPC) for uncertain discrete time systems. This controller was developed based on a quadratic cost functional and guarantee robustness with respect…
In this article, we completely describe the control sets of one-input linear control systems on solvable, nonnilpotent 3D Lie groups. We show that, if the restriction of the associate derivation to the nilradical is nontrivial, the Lie…
We present a new approach to the problem of proving global stability, based on symplectic geometry and with a focus on systems with several conserved quantities. We also provide a proof of instability for integrable systems whose momentum…
This paper investigates stochastic invariance for control systems through probabilistic controlled invariant sets (PCISs). As a natural complement to robust controlled invariant sets~(RCISs), we propose finite- and infinite-horizon PCISs,…
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…
In this paper, we study the mixed-integer nonlinear set given by a separable quadratic constraint on continuous variables, where each continuous variable is controlled by an additional indicator. This set occurs pervasively in optimization…
This paper introduces a family of iterative algorithms for unconstrained nonlinear optimal control. We generalize the well-known iLQR algorithm to different multiple-shooting variants, combining advantages like straight-forward…
We propose a semi-discrete numerical scheme and establish well-posedness of a class of parabolic systems. Such systems naturally arise while studying the optimal control of grain boundary motions. The latter is typically described using a…
These lectures demonstrate the development of a PID control framework for mechanical systems. Based on the observation that mechanical systems are essentially double integrator systems, we generalize the linear PID controller to mechanical…
Geometric modeling of multivariate reliability polynomials is based on algebraic hypersurfaces, constant level sets, rulings etc. The solved basic problems are: (i) find the reliability polynomial using the Maple and Matlab software…
We introduce a semidefinite relaxation for optimal control of linear systems with time scaling. These problems are inherently nonconvex, since the system dynamics involves bilinear products between the discretization time step and the…
In this paper, we develop a unified framework for studying constrained robust optimal control problems with adjustable uncertainty sets. In contrast to standard constrained robust optimal control problems with known uncertainty sets, we…
We propose a new method for controlling linear dynamical systems under adversarial disturbances and cost functions. Our algorithm achieves a running time that scales polylogarithmically with the inverse of the stability margin, improving…
In this work, we utilize infinitesimal symmetries to compute Maxwell points which play a crucial role in studying sub-Riemannian control problems. By examining the infinitesimal symmetries of the geometric control problem on the SH(2)…
This article presents an identification methodology to capture general relationships, with application to piecewise nonlinear approximations of model predictive control for constrained (non)linear systems. The mathematical formulation…
We study a classical multiparticle system (such as Toda lattice) whose dynamics we intend to control by forces applied to few particles of the system. Various problem settings, typical for control theory are posed for this model; among…