Related papers: Virtual Affine Nonholonomic Constraints
Necessary conditions for existence of normal extremals in optimal control of systems subject to nonholonomic constraints are derived as solutions of a constrained second order variational problems. In this work, a geometric interpretation…
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.…
A group invariant for links in thickened closed orientable surfaces is studied. Associated polynomial invariants are defined. The group detects nontriviality of a virtual link and determines its virtual genus.
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 develop an indirect-adaptive model predictive control algorithm for uncertain linear systems subject to constraints. The system is modeled as a polytopic linear parameter varying system where the convex combination vector is constant but…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
We characterize the conditions for the conservation of the energy and of the components of the momentum maps of lifted actions, and of their `gauge-like' generalizations, in time-independent nonholonomic mechanical systems with affine…
Lagrangian Neural Networks (LNNs) are a powerful tool for addressing physical systems, particularly those governed by conservation laws. LNNs can parametrize the Lagrangian of a system to predict trajectories with nearly conserved energy.…
We investigate optimal control of dynamical systems which are affine, i.e., linear in control, but nonlinear in state. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible, a task…
The problem of data-driven control is addressed here in the context of switched affine systems. This class of nonlinear systems is of particular importance when controlling many types of applications in electronic, biology, medicine, etc.…
This paper studies nonsmooth variational problems on principal bundles for nonholonomic systems with collisions taking place in the boundary of the manifold configuration space of the nonholonopmic system. In particular, we first extended…
We study the mechanics of nematically ordered semiflexible networks showing that they, like isotropic networks, undergo an affine to non-affine cross-over controlled by the ratio of the filament length to the non-affinity length. Deep in…
For control-affine systems on non-compact manifolds, the notion of strong chain control sets is introduced and related to the strong chain transitivity of the associated control flows. Affine control systems on R^n are embedded into…
Converse optimality theory addresses an optimal control problem conversely where the system is unknown and the value function is chosen. Previous work treated this problem both in continuous and discrete time and non-extensively considered…
The confusion and ambiguity encountered by students, in understanding virtual displacement and virtual work, is discussed in this article. A definition of virtual displacement is presented that allows one to express them explicitly for…
Noninterference provides a control over information flow in a system for ensuring confidentiality and integrity properties. In the literature this notion has been well studied as transitive noninterference and intransitive noninterference.…
The theory of feedback integrators is extended to handle mechanical systems with nonholonomic constraints with or without symmetry, so as to produce numerical integrators that preserve the nonholonomic constraints as well as other conserved…
The stable combination of optimal feedback policies with online learning is studied in a new control-theoretic framework for uncertain nonlinear systems. The framework can be systematically used in transfer learning and sim-to-real…
Motivated by recent developments in Hamiltonian variational principles, Hamiltonian variational integrators, and their applications such as to optimization and control, we present a new Type II variational approach for Hamiltonian systems,…
This paper addresses output reference tracking with prescribed transient performance for unknown nonlinear multi-input multi-output systems with arbitrary relative degree. We propose a novel derivative-free extension of funnel control based…