Related papers: Dynamic Feedback Linearization of Control Systems …
We present a comprehensive study on discrete morphological symmetries of dynamical systems, which are commonly observed in biological and artificial locomoting systems, such as legged, swimming, and flying animals/robots/virtual characters.…
We examine "dynamical similarities" in the Lagrangian framework. These are symmetries of an intrinsically determined physical system under which observables remain unaffected, but the extraneous information is changed. We establish three…
One of the most important branches of nonlinear control theory is the so-called sliding-mode. Its aim is the design of a (nonlinear) feedback law that brings and maintains the state trajectory of a dynamic system on a given sliding surface.…
Dynamical systems theory has long provided a foundation for understanding evolving phenomena across scientific domains. Yet, the application of this theory to complex real-world systems remains challenging due to issues in mathematical…
We examine when differentially flat nonlinear control systems with more than two inputs can be rendered static feedback linearizable by a minimal number of prolongations of suitably chosen inputs after applying a static input…
This paper presents an indirect data-driven output feedback controller synthesis for nonlinear systems, leveraging Structured State-space Models (SSMs) as surrogate models. SSMs have emerged as a compelling alternative in modelling…
This monograph presents a geometric modeling method nonlinear dynamical systems from experimental data . basis method is a qualitative approach to the analysis of linear models and construction of the symmetry groups of attractors of…
Linear systems on Lie groups are a natural generalization of linear system on Euclidian spaces. For such systems, this paper studies controllability by taking in consideration the eigenvalues of an associated derivation D. When the state…
Late-lumping feedback design for infinite-dimensional linear systems with unbounded input operators is considered. The proposed scheme is suitable for the approximation of backstepping and flatness-based designs and relies on a…
Recent work in reinforcement learning has leveraged symmetries in the model to improve sample efficiency in training a policy. A commonly used simplifying assumption is that the dynamics and reward both exhibit the same symmetry; however,…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
Symmetry groups allow to transform solutions of differential equations continuously into other solutions. This property can be used for the observability analysis of infinite-dimensional systems with input and output. In this contribution,…
This paper studies the boundary feedback stabilization of a class of diagonal infinite-dimensional boundary control systems. In the studied setting, the boundary control input is subject to a constant delay while the open loop system might…
High performance trajectory tracking control of quadrotor vehicles is an important challenge in aerial robotics. Symmetry is a fundamental property of physical systems and offers the potential to provide a tool to design high-performance…
The design of direct data-based controllers has become a fundamental part of control theory research in the last few years. In this paper, we consider three classes of data-based state feedback control problems for linear systems. These…
This paper investigates the consensus problem of multiple uncertain Lagrangian systems. Due to the discontinuity resulted from the switching topology, achieving consensus in the context of uncertain Lagrangian systems is challenging. We…
Nonhamiltonian interaction of hamiltonian systems is considered. Dynamical equations are constructed by use of symmetric designs on Lie algebras. The results of analysis of these equations show that some class of symmetric designs on Lie…
In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…
In this paper, we propose a framework for designing sliding mode controllers for a class of mechanical systems with symmetry, both unconstrained and constrained, that evolve on principal fiber bundles. Control laws are developed based on…
Dynamical Systems (DS) are an effective and powerful means of shaping high-level policies for robotics control. They provide robust and reactive control while ensuring the stability of the driving vector field. The increasing complexity of…