Related papers: Control of systems by parallel actuators
The paper puts forward sufficient conditions for local controllability of a control dynamical system. The results obtained are meaningful in the case when the linear approximation to this system is not completely controllable. As a…
The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the…
A model-based feasible control strategy for multi-rotor systems is presented, pursuing two control objectives simultaneously: Mechanical loads on the main tower are to be mitigated, and an externally determined power change is to be…
The control of network-coupled nonlinear dynamical systems is an active area of research in the nonlinear science community. Coupled oscillator networks represent a particularly important family of nonlinear systems, with applications…
Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…
Subsystems that are coupled due to dynamics and costs arise naturally in various communication applications. In many such applications the control actions are shared between different control stations giving rise to a \emph{control sharing}…
This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbance. The adaptive controller ensures uniformly bounded transient and asymptotic tracking…
This paper is devoted to the study of the null and approximate controllability for some classes of linear coupled parabolic systems with less controls than equations. More precisely, for a given bounded domain in R^N, we consider a system…
For linear infinite systems the approximate controllability problem by control constraints is considered. Controllability conditions represented via system parameters are obtained. Partial differential control systems and control systems…
We present a novel strategy for robust dual control of linear time-invariant systems based on gain scheduling with performance guarantees. This work relies on prior results of determining uncertainty bounds of system parameters estimated…
This work presents a framework to synthesize structured gain-scheduled controllers for structured plants whose dynamics change according to time-varying scheduling parameters. Both the system and the controller are assumed to admit…
This paper addresses the problem of decentralized abstractions for multiple mobile manipulators with 2nd order dynamics. In particular, we propose decentralized controllers for the navigation of each agent among predefined regions of…
Robust coordination and organization in large ensembles of nonlinear oscillatory units play a vital role in a wide range of natural and engineered system. The control of self-organizing network-coupled systems has recently seen significant…
The control of chaotic systems implies inducing an unpredictable system to follow a desired trajectory using the smallest "force". In low-dimensional continuous systems, one method is that of reconstructing the tangent space, so that the…
This paper considers the problem of temperature regulation in multicore processors by dynamic voltage-frequency scaling. We propose a feedback law that is based on an integral controller with adjustable gain, designed for fast tracking…
Ensemble control offers rich and diverse opportunities in mathematical systems theory. In this paper, we present a new paradigm of ensemble control, referred to as distributional control, for ensemble systems. We shift the focus from…
This is an exposition for mathematicians of some unsolved problems arising in control theory of linear time-independent systems.
In this paper, we study the tracking controllability of a 1D parabolic type equation. Notably, with controls acting on the boundary, we seek to approximately control the solution of the equation on specific points of the domain. We prove…
This paper presents a new technique to control highly redundant mechanical systems, such as humanoid robots. We take inspiration from two approaches. Prioritized control is a widespread multi-task technique in robotics and animation: tasks…
The objective of this paper is to solve the controller synthesis problem for bisimulation equivalence in a wide variety of scenarios including discrete-event systems, nonlinear control systems, behavioral systems, hybrid systems and many…