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In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Demand for high-performance, robust, and safe autonomous systems has grown substantially in recent years. These objectives motivate the desire for efficient safety-theoretic reasoning that can be embedded in core decision-making tasks such…
Permanent Magnet Synchronous Motors (PMSMs) are widely employed in high-performance drive systems due to their high efficiency, power density, and precise dynamic behavior. However, nonlinearities, load disturbances, and parameter…
Quantum systems can be controlled by other quantum systems in a reversible way, without any information leaking to the outside of the system-controller compound. Such coherent quantum control is deterministic, is less noisy than…
Analog-to-digital conversion (ADC) and uncertainties in modeling the plant dynamics are the main sources of imprecisions in the design cycle of model-based controllers. These implementation and model uncertainties should be addressed in the…
In this paper, we present a control synthesis framework for a general class of nonlinear, control-affine systems under spatiotemporal and input constraints. First, we study the problem of fixed-time convergence in the presence of input…
This paper generalizes recent results by the authors on noninvasive model-reference adaptive control designs for control-based continuation of periodic orbits in periodically excited linear systems with matched uncertainties to a larger…
This paper develops a novel control-theoretic framework to analyze the non-asymptotic convergence of Q-learning. We show that the dynamics of asynchronous Q-learning with a constant step-size can be naturally formulated as a discrete-time…
This paper presents a new kind of vectorial backstepping sliding mode control (BSMC) for the positioning and trajectory tracking of an autonomous robotic airship. Also, a unified framework basis for the design/analysis of vectorial BSMC, as…
Motivated by the goal of learning controllers for complex systems whose dynamics change over time, we consider the problem of designing control laws for systems that switch among a finite set of unknown discrete-time linear subsystems under…
In this paper, we consider the problem of verifying pre-opacity for discrete-time control systems. Pre-opacity is an important information-flow security property that secures the intention of a system to execute some secret behaviors in the…
This article focuses on the trajectory tracking problem of mobile manipulators (MMs). Firstly, we construct a position and orientation model predictive tracking control (POMPTC) scheme for mobile manipulators. The proposed POMPTC scheme can…
Quantum computing experiments and testbeds with large qubit counts have until recently been a privilege afforded only to large companies or quantum technologies where scaling to hundreds or thousands of qubits does not require a substantial…
Motion Cueing Algorithms (MCAs) encode the movement of simulated vehicles into movement that can be reproduced with a motion simulator to provide a realistic driving experience within the capabilities of the machine. This paper introduces a…
This paper investigates the prescribed-time smooth control problem for a class of uncertain nonholonomic systems. With a novel smooth time-varying state transformation, the uncertain chained nonholonomic system is reformulated as an…
We analyze actuator chattering in a scalar integrator system subject to second-order actuator dynamics with an unknown time constant and first-order sliding-mode control, using both a conventional static sliding manifold and a dynamic…
In this paper we propose a stochastic model predictive control (MPC) algorithm for linear discrete-time systems affected by possibly unbounded additive disturbances and subject to probabilistic constraints. Constraints are treated in…
In the present contribution the sliding mode control (SMC) problem for a phase-field model of Caginalp type is considered. First we prove the well-posedness and some regularity results for the phase-field type state systems modified by the…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
This paper proposes an automatic tuning algorithm for a sliding mode controller (SMC) based on the Ackermann's formula, that attenuates the structural vibrations of a seismically excited building equipped with an Active Tuned Mass Damper…