Related papers: Conic nonholonomic constraints on surfaces and con…
We consider funnel control for linear infinite-dimensional systems that are impedance passive, meaning that they satisfy an energy balance in which the stored energy equals the squared norm of the state and the supplied power is the inner…
We show that Boundary Control method, a method for hyperbolic inverse problems, is also capable of dealing directly with certain classes of elliptic and parabolic Inverse Boundary Value Problems; thus pointing towards Boundary Control…
Two effective methods for writing the dynamical equations for non-holonomic systems are illustrated. They are based on the two types of representation of the constraints: by parametric equations or by implicit equations. They can be applied…
In this paper, we provide a geometric characterization of virtual nonlinear nonholonomic constraints from a symplectic perspective. Under a transversality assumption, there is a unique control law making the trajectories of the associated…
This paper studies (single-time and multitime) optimal control problems on a nonholonomic manifold (described either by the kernel of a Gibbs-Pfaff form or by the span of appropriate vector fields). For both descriptions we analyse:…
This paper considers control systems defined on Lie algebroids. After deriving basic controllability tests for general control systems, we specialize our discussion to the class of mechanical control systems on Lie algebroids. This class of…
Attitude control systems naturally evolve on nonlinear configuration spaces, such as S^2 and SO(3). The nontrivial topological properties of these configuration spaces result in interesting and complicated nonlinear dynamics when studying…
If two control systems on manifolds of the same dimension are dynamic equivalent, we prove that either they are static equivalent --i.e. equivalent via a classical diffeomorphism-- or they are both ruled; for systems of different…
Shell models of turbulence are representation of turbulence equations in Fourier domain. Various shell models and their existence theory along with numerical simulations have been studied earlier. In this work we study control problems…
In this paper, we put the issue of dynamic equivalence of control systems in the context of pullbacks of coframings on infinite jet bundles over the state manifolds. While much attention has been given to differentially flat systems, i.e.…
Establishing detailed relationships between transnormal systems of different types and their behaviors under covering maps, this paper presents a classification of transnormal systems on compact 3-manifolds in the sense of equivalence. For…
We consider a stochastic control problem which is composed of a controlled stochastic differential equation, and whose associated cost functional is defined through a controlled backward stochastic differential equation. Under appropriate…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These…
In this paper we study contact nonholonomic mechanical sys\-tems. We construct a general framework for non-holonomic constraints in contact geometry and, in this framework, we define different nonholonomic brackets using con\-venient…
We introduce a family of boundary conditions and point constraints for conformal immersions that increase the controllability of surfaces defined as minimizers of conformal variational problems. Our free boundary conditions fix the metric…
General dynamic properties like controllability and simulability of spin systems, fermionic and bosonic systems are investigated in terms of symmetry. Symmetries may be due to the interaction topology or due to the structure and…
In this paper, we consider two cases of rolling of one smooth connected complete Riemannian manifold $(M,g)$ onto another one $(\hM,\hg)$ of equal dimension $n\geq 2$. The rolling problem $(NS)$ corresponds to the situation where there is…
In this work, we will investigate the question of optimal control for bilinear systems with constrained endpoint. The optimal control will be characterized through a set of unconstrained minimization problems that approximate the former.…
This paper studies nonsmooth variational problems on principal bundles for nonholonomic systems with collisions taking place in the boundary of the manifold configuration space of the nonholonopmic system. In particular, we first extended…