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The complex behavior of many natural and engineered systems emerges from the interaction of a small number of effective degrees of freedom. Discovering the physical basis of the interactions between these degrees of freedom directly from…
The extraction of spatio-temporal coherence in high-dimensional, chaotic, non-linear dynamical systems, such as turbulent flows, remains a fundamental challenge in physics, mathematics and engineering. In this work, we employ Shannon…
We derive the quantum stochastic master equation for bosonic systems without measurement theory but control theory. It is shown that the quantum effect of the measurement can be represented as the correlation between dynamical and…
The local statistical and geometric structure of three-dimensional turbulent flow can be described by properties of the velocity gradient tensor. A stochastic model is developed for the Lagrangian time evolution of this tensor, in which the…
Current Text-to-Speech (TTS) systems typically use separate models for speech-prompted and text-prompted timbre control. While unifying both control signals into a single model is desirable, the challenge of cross-modal alignment often…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
This paper proposes a constructive approach to safety control of nonlinear cascade systems subject to multiple state constraints. New design ingredients include a unified characterization of safety and stability for systematic designs of…
Stability and control of a non-linear system represent an important system configuration that frequently arises in practical engineering. Stability covers a vast range of systems that do not obey the superposition principle and applies to…
This paper proposes a model predictive controller for discrete-time linear systems with additive, possibly unbounded, stochastic disturbances and subject to chance constraints. By computing a polytopic probabilistic positively invariant set…
This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art safety-enforcing methods, such as control barrier functions…
Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt to learn a controller and a certificate (e.g., a Lyapunov…
We develop a tracking model predictive control (MPC) scheme for nonlinear systems using the linearized dynamics at the current state as a prediction model. Under reasonable assumptions on the linearized dynamics, we prove that the proposed…
In this work, we derive a region-based self-triggered control (STC) scheme for nonlinear systems with bounded disturbances and model uncertainties. The proposed STC scheme is able to guarantee different performance specifications (e.g.…
We give an algorithmic introduction to Lagrangian coherent structures (LCSs) using a newly developed computational engine, LCS Tool. LCSs are most repelling, attracting and shearing material lines that form the centerpieces of observed…
Tensegrity structures have been extensively studied over the last years due to their potential applications in modern engineering like metamaterials, deployable structures, planetary lander modules, etc. Many of the form-finding methods…
This paper presents a novel robust trajectory optimization method for constrained nonlinear dynamical systems subject to unknown bounded disturbances. In particular, we seek optimal control policies that remain robustly feasible with…
We consider networks of elastic strings with end masses, where the coupling is modeled via elastic springs. The model is representative of a network of nonlinear strings, where the strings are coupled to elastic bodies. The coupled system…
Given a stochastic nonlinear system controlled over a possibly noisy communication channel, the paper studies the largest class of channels for which there exist coding and control policies so that the closed-loop system is stochastically…
This paper describes new results linking constrained optimization theory and nonlinear contraction analysis. Generalizations of Lagrange parameters are derived based on projecting system dynamics on the tangent space of possibly…
We consider a terminal control problem for processes governed by a nonlinear system of fractional ODEs. In order to show existence of the control, we first consider the linear counterpart of the system and reprove a number of classical…