Related papers: Conic nonholonomic constraints on surfaces and con…
A nonholonomic system consists of a configuration space Q, a Lagrangian L, and an nonintegrable constraint distribution H, with dynamics governed by Lagrange-d'Alembert's principle. We present two studies both using adapted moving frames.…
In this paper we introduce universal asymptotic unfolding normal forms for nonlinear singular systems. Next, we propose an approach to find the parameters of a parametric singular system that they play the role of universal unfolding…
Many optimal and robust control problems are nonconvex and potentially nonsmooth in their policy optimization forms. In Part II of this paper, we introduce a new and unified Extended Convex Lifting (ECL) framework to reveal hidden convexity…
Controllability properties are studied for control-affine systems depending on a parameter and with constrained control values. The uncontrolled systems in dimension two and three are subject to a homoclinic bifurcation. This generates two…
The problem of feedback equivalence for control systems is considered. An algebra of differential invariants and criteria for the feedback equivalence for regular control systems are found.
We consider optimization problems with manifold-valued constraints. These generalize classical equality and inequality constraints to a setting in which both the domain and the codomain of the constraint mapping are smooth manifolds. We…
In this paper, we present a geometric approach for computing the controlled invariant set of a continuous-time control system. While the problem is well studied for in the ellipsoidal case, this family is quite conservative for constrained…
Just as an explicit parameterisation of system dynamics by state, i.e., a choice of coordinates, can impede the identification of general structure, so it is too with an explicit parameterisation of system dynamics by control. However, such…
We employ the proximal averaged Newton-type method for optimal control (PANOC) to solve obstacle avoidance problems in real time. We introduce a novel modeling framework for obstacle avoidance which allows us to easily account for generic,…
The note focuses on the differential geometric approach to the study of nonlinear systems that are affine in control. We first develop normal forms for nonlinear system affine in control. Based on these normal forms, we then address the…
In this paper, we study a class of stochastic time-inconsistent linear-quadratic (LQ) control problems with control input constraints. These problems are investigated within the more general framework associated with random coefficients.…
We study control systems on the tangent bundle of a smooth manifold induced by vertical lifts of vector fields. The Vertical dynamics acts exclusively along the fibers, leaving the base point unchanged and reducing the system to a linear…
We consider the problem of shaping the transient step response of nonlinear systems to satisfy a class of integral constraints. Such constraints are inherent in hybrid energy systems consisting of energy sources and storage elements. While…
In this paper, we analyze the geometric structure of an Euclidean submanifold whose osculating spaces form a nonconstant family of proper subspaces of the same dimension. We prove that if the rate of change of the osculating spaces is…
We explore a particular approach to the analysis of dynamical and geometrical properties of autonomous, Pfaffian non-holonomic systems in classical mechanics. The method is based on the construction of a certain auxiliary constrained…
We consider control-constrained linear-quadratic optimal control problems on evolving surfaces. In order to formulate well-posed problems, we prove existence and uniqueness of weak solutions for the state equation, in the sense of…
Hamiltonian systems with functionally dependent constraints (irregular systems), for which the standard Dirac procedure is not directly applicable, are discussed. They are classified according to their behavior in the vicinity of the…
This work addresses controllability properties for some systems of partial differential equations in which the main feature is the coupling through nonlocal integral terms. In the first part, we study a nonlinear parabolic-elliptic system…
This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to…
Funnel control achieves output tracking with guaranteed tracking performance for unknown systems and arbitrary reference signals. In particular, the tracking error is guaranteed to satisfy time-varying error bounds for all times (it evolves…