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Hybrid dynamical systems characterized by discrete switching of smooth dynamics have been used to model various rhythmic phenomena. However, the phase reduction theory, a fundamental framework for analyzing the synchronization of…
We analyze limit cycle oscillators under perturbation constructed as a product of two signals, namely, an envelope with a period close to natural period of an oscillator and a high-frequency carrier signal. A theory for obtaining an…
Adaptable computing is an increasingly important paradigm that specializes system resources to variable application requirements, environmental conditions, or user requirements. Adapting computing resources to variable application…
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…
Phase reduction framework for limit-cycling systems based on isochrons has been used as a powerful tool for analyzing rhythmic phenomena. Recently, the notion of isostables, which complements the isochrons by characterizing amplitudes of…
This paper explores the novel concept of damping controller coordination, which aims to minimize the Total Action metric by identifying an optimal switching combination (on/off) of these controllers. The metric is rooted in power system…
Spontaneous oscillations induced by time delays are observed in many real-world systems. Phase reduction theory for limit-cycle oscillators described by delay-differential equations (DDEs) has been developed to analyze their synchronization…
Networks of coupled dynamical systems provide a powerful way to model systems with enormously complex dynamics, such as the human brain. Control of synchronization in such networked systems has far reaching applications in many domains,…
This paper is based on a crucial issue in the aviation world: how to optimize the trajectory and controls given to the aircraft in order to optimize flight time and fuel consumption. This study aims to provide elements of a response to this…
In this paper we propose a method for applications oriented input design for linear systems under time-domain constraints on the amplitude of input and output signals. The method guarantees a desired control performance for the estimated…
The phase-amplitude framework extends the classical phase reduction method by incorporating amplitude coordinates (or isostables) to describe transient dynamics transverse to the limit cycle in a simplified form. While the full set of…
This paper presents a new parameter estimation algorithm for the adaptive control of a class of time-varying plants. The main feature of this algorithm is a matrix of time-varying learning rates, which enables parameter estimation error…
Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…
In this paper we use the parameterization method to provide a complete description of the dynamics of an $n$-dimensional oscillator beyond the classical phase reduction. The parameterization method allows, via efficient algorithms, to…
Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…
The main challenge for adaptive regulation of linear-quadratic systems is the trade-off between identification and control. An adaptive policy needs to address both the estimation of unknown dynamics parameters (exploration), as well as the…
Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…
Oscillators are ubiquitous in nature, and usually associated with the existence of an asymptotic phase that governs the long-term dynamics of the oscillator. % We show that asymptotic phase can be estimated using a carefully chosen series…
In this paper, we propose a novel data-driven predictive control approach for systems subject to time-domain constraints. The approach combines the strengths of H-infinity control for rejecting disturbances and MPC for handling constraints.…
Finite-dimensional dissipative dynamical systems with multiple time-scales are obtained when modeling chemical reaction kinetics with ordinary differential equations. Such stiff systems are computationally hard to solve and therefore,…