Related papers: Virtual Affine Nonholonomic Constraints
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:…
Invariant manifolds are important constructs for the quantitative and qualitative understanding of nonlinear phenomena in dynamical systems. In nonlinear damped mechanical systems, for instance, spectral submanifolds have emerged as useful…
This paper is concerned with Devaney chaos in non-autonomous discrete systems. It is shown that in its definition, the two former conditions, i.e., transitivity and density of periodic points, in a set imply the last one, i.e., sensitivity,…
We study the dynamics of pairs of connected masses in the plane, when nonholonomic (knife-edge) constraints are realized by forces of viscous friction, in particular its relation to constrained dynamics, and its approximation by the method…
The ability to robustly and efficiently control the dynamics of nonlinear systems lies at the heart of many current technological challenges, ranging from drug delivery systems to ensuring flight safety. Most such scenarios are too complex…
For homogeneous bilinear control systems, the control sets are characterized using a Lie algebra rank condition for the induced systems on projective space. This is based on a classical Diophantine approximation result. For affine control…
In the present paper we investigate the mechanics of systems of affinely-rigid bodies, i.e., bodies rigid in the sense of affine geometry. Certain physical applications are possible in modelling of molecular crystals, granular media, and…
A new method of virtual unknown parameter is proposed to synchronize two different systems with unknown parameters and disturbance in finite time. Virtual unknown parameters are introduced in order to avoid the unknown parameters from…
A linear connection is associated to a nonlinear connection on a vector bundle by a linearization procedure. Our definition is intrinsic in terms of vector fields on the bundle. For a connection on an affine bundle our procedure can be…
This article investigates the problem of controlling linear time-invariant systems subject to time-varying and a priori unknown cost functions, state and input constraints, and exogenous disturbances. We combine the online convex…
In this paper, we develop a method for computing controlled invariant sets using Semidefinite Programming. We apply our method to the controller design problem for switching affine systems with polytopic safe sets. The task is reduced to a…
Control theory often takes the mathematical model of the to-be-control-led system for granted. In contrast, port-Hamiltonian systems theory bridges the gap between modelling and control for physical systems. It provides a unified framework…
This paper introduces control barrier functions for discrete-time systems, which can be shown to be necessary and sufficient for controlled invariance of a given set. Moreover, we propose nonlinear discrete-time control barrier functions…
Given a finite-dimensional time continuous control system and $\varepsilon>0$, we address the question of the existence of controls that maintain the corresponding state trajectories in the $\varepsilon$-neighborhood of any prescribed path…
We compute many dimensions of spaces of finite type invariants of virtual knots (of several kinds) and the dimensions of the corresponding spaces of "weight systems", finding everything to be in agreement with the conjecture that "every…
Virtual knot theory is a generalization of knot theory which is based on Gauss chord diagrams and link diagrams on closed oriented surfaces. A twisted knot is a generalization of a virtual knot, which corresponds to a link diagram on a…
In this paper, we show how the non-holonomic control technique can be employed to build completely controlled quantum devices. Examples of such controlled structures are provided.
We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a…
Motivated by control-affine systems in optimal control theory, we introduce the notion of a point-affine distribution on a manifold X - i.e., an affine distribution F together with a distinguished vector field contained in F. We compute…
In order to describe the impact of different geometric structures and constraints for the dynamics of a regular controlled Hamiltonian system, in this paper, we first define a kind of controlled magnetic Hamiltonian (CMH) system, and give a…