Related papers: Dynamics and control of clustered tensegrity syste…
This paper presents a new aggregate power tracking control scheme for populations of thermostatically controlled loads (TCLs). The control design is performed in the framework of partial differential equations (PDEs) based on a late-lumping…
Turbulence and chaos play a fundamental role in stellar convective zones through the transportof particles, energy and momentum, and in fast dynamos, through the stretching, twisting and folding of magnetic flux tubes. A particularly…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
It is quite often claimed, and correctly so, that linear methods cannot achieve global stability results for attitude control, and conversely that nonlinear control is essential in order to achieve (almost) globally stable tracking of…
This paper considers the stabilization of nonlinear continuous-time dynamical systems employing periodic event-triggered control (PETC). Assuming knowledge of a stabilizing feedback law for the continuous-time system with a certain…
An ensemble of inelastically colliding grains driven by a vibrating wall in 2D exhibits density clustering. Working in the limit of nearly elastic collisions and employing granular hydrodynamics, we predict, by a marginal stability…
This paper studies controllability of a discrete-time linear dynamical system using nonnegative and sparse inputs. These constraints on the control input arise naturally in many real-life systems where the external influence on the system…
We are motivated by the problem of control for a non-homogeneous elastic string with memory. We reduce the problem of controllability to a non-standard moment problem. The solution of the latter problem is based on an auxiliary Riesz basis…
Nonlinear stabilization using control contraction metric (CCM) method usually involves an online optimization problem to compute a minimal geodesic (a shortest path) between pair of states, which is not desirable for real-time applications.…
In this paper, we study the control of dynamical systems under temporal logic task specifications using gradient-based methods relying on quantitative measures that express the extent to which the tasks are satisfied. A class of controllers…
This article presents a unified synchronization framework with application to precision formation flying spacecraft. Central to the proposed innovation, in applying synchronization to both translational and rotational dynamics in the…
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…
Robots built from cable-driven tensegrity (`tension-integrity') structures have many of the advantages of soft robots, such as flexibility and robustness, while still obeying simple statics and dynamics models. However, existing tensegrity…
Discrete control systems, as considered here, refer to the control theory of discrete-time Lagrangian or Hamiltonian systems. These discrete-time models are based on a discrete variational principle, and are part of the broader field of…
Recent attempts to automate business processes and medical-treatment processes have uncovered the need for a formal framework that can accommodate not only temporal constraints, but also observations and actions with uncontrollable…
This paper investigates the optimal control problem for a class of nonlinear fully coupled forward-backward stochastic difference equations (FBS$\Delta$Es). Under the convexity assumption of the control domain, we establish a variational…
This paper presents an analytical and experimental design and deployment control analysis of a hyperbolic paraboloid cable net based on clustering actuation strategies. First, the dynamics and statics for clustered tensegrity structures…
Lagrangian coherent structures (LCSs) are material surfaces that shape finite-time tracer patterns in flows with arbitrary time dependence. Depending on their deformation properties, elliptic and hyperbolic LCSs have been identified from…