Related papers: On the Robustness of the Integrable Trajectories o…
Controlling hybrid systems is mostly very challenging due to the variety of dynamics these systems can exhibit. Inspired by the concept of differential flatness of nonlinear continuous systems and their inherent invertibility property, the…
We develop a linear systems theory that coincides with the existing theories for continuous and discrete dynamical systems, but that also extends to linear systems defined on nonuniform time domains. The approach here is based on…
The main objective of this article is to develop a matrix pencil approach for the study of the controllability and reachability of a class of linear singular discrete time systems. The description equation of a practical system may be…
The admissible positional control problem for the canonical system with geometrical restrictions on the control is considered. The investigation is performed with the help of the controllability function method. We obtain controllability…
This paper presents a control law for stabilization and trajectory tracking of a multicopter subject to safety constraints. The proposed approach guarantees forward invariance of a prescribed safety set while ensuring smooth tracking…
We discuss stabilization around trajectories of the continuity equation with nonlocal vector fields, where the control is localized, i.e., it acts on a fixed subset of the configuration space. We first show that the correct definition of…
We consider systems characterized by the presence of a rapidly oscillating force. A general method is presented for the construction of the effective action governing the large-scale nonlinear dynamics of such systems order by order in…
We consider some generalizations of the classical nonholonomic integrator and give a geometric approach to characterize controllability for these systems. We use Stokes' theorem and results from complex analysis to obtain necessary and…
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as an optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a nonholonomic…
We describe a new method which allows us to obtain a result of exact controllability to trajectories of multidimensional conservation laws in the context of entropy solutions and under a mere non-degeneracy assumption on the flux and a…
In the design and operation of complex dynamical systems, it is essential to ensure that all state trajectories of the dynamical system converge to a desired equilibrium within a guaranteed stability region. Yet, for many practical systems…
This paper presents a new fast and robust algorithm that provides fuel-optimal impulsive control input sequences that drive a linear time-variant system to a desired state at a specified time. This algorithm is applicable to a broad class…
Infinite-dimensional linear port-Hamiltonian systems on a one-dimensional spatial domain with full boundary control and without internal damping are studied. This class of systems includes models of beams and waves as well as the transport…
In this paper, we examine the question of the boundary controllability of the one-dimensional non-isentropic Euler equation for compressible polytropic gas, in the context of weak entropy solutions. We consider the system in Eulerian…
We study the problem of estimating the value function of discrete-time switched systems under arbitrary switching. Unlike the switched LQR problem, where both inputs and mode sequences are optimized, we consider the case where switching is…
To achieve control objectives for extremely large-scale complex networks using standard methods is essentially intractable. In this work a theory of the approximate control of complex network systems is proposed and developed by the use of…
The paper is devoted to the controllability problem for 3D compressible Euler system. The control is a finite-dimensional external force acting only on the velocity equation. We show that the velocity and density of the fluid are…
The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…
In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which…
We present a method to control the position as a function of time of one-dimensional traveling wave solutions to reaction-diffusion systems according to a pre-specified protocol of motion. Given this protocol, the control function is found…