Related papers: On the Robustness of the Integrable Trajectories o…
In this paper, controllability of undirected networked systems with {diffusively coupled subsystems} is considered, where each subsystem is of {identically {\emph{fixed}}} general high-order single-input-multi-output dynamics. The…
We propose a new controllability property for linear time varying control systems in finite dimension: the nonuniform complete controllability, which is halfway between the classical Kalman's properties of complete controllability and…
We investigate energy-optimal control of robots with ultracapacitor based regenerative drive systems. Based on a previously introduced framework, a fairly generic model is considered for the robot and the drive system. An optimal control…
We consider the controllability problem for the continuity equation, corresponding to neural ordinary differential equations (ODEs), which describes how a probability measure is pushedforward by the flow. We show that the controlled…
Motivated by the need for formal guarantees on the stability and safety of controllers for challenging robot control tasks, we present a control design procedure that explicitly seeks to maximize the size of an invariant "funnel" that leads…
We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We derive robustness metrics through contraction theory. We use…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
With the advent of quantum technologies, control issues are becoming increasingly important. In this article, we address the control in phase space under a global constraint provided by a minimal energy-like cost function and a local (in…
We prove the exact controllability result to trajectories of a simplified model of motion of a rigid body in fluid flow. Unlike a previously know results such a trajectory does not need to be a stationary solution.
In this note, a novel methodology that can extract a number of analysis results for linear time-invariant systems (LTI) given only a single trajectory of the considered system is proposed. The superiority of the proposed technique relies on…
For periodic linear control systems with bounded control range, an autonomized system is introduced by adding the phase to the state of the system. Here a unique control set (i.e., a maximal set of approximate controllability) with nonvoid…
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as a constrained optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a…
Algebraically speaking, linear time-invariant (LTI) systems can be considered as modules. In this framework, controllability is translated as the freeness of the system module. Optimal control mainly relies on quadratic Lagrangians and the…
We revisit the work of Roger Brockett on controllability of the Liouville equation, with a particular focus on the following problem: Given a smooth controlled dynamical system of the form $\dot{x} = f(x,u)$ and a state-space diffeomorphism…
This paper is the first part of a project devoted to studying the interconnection between controllability properties of a dynamical system and the large-time asymptotics of trajectories for the associated stochastic system. It is proved…
In this work, we extend Aubry-Mather theory to the case of control systems with nonholonomic constraints. In this framework, we consider an optimal control problem where admissible trajectories are solutions of a control-affine equation.…
Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics are not fully known. This paper is motivated by a scenario…
Turnpike properties have been established long time ago in finite-dimensional optimal control problems arising in econometry. They refer to the fact that, under quite general assumptions, the optimal solutions of a given optimal control…
It is known that if a nonlinear control affine system without drift is bracket generating, then its associated sub-Laplacian is invertible under some conditions on the domain. In this note, we investigate the converse. We show how…
We extend the internal model principle for systems with boundary control and boundary observation, and construct a robust controller for this class of systems. However, as a consequence of the internal model principle, any robust controller…