Related papers: A Triangular Normal Form for x-Flat Control-Affine…
We study the set of image tuples arising from fixed cameras observing varying planar 3-dimensional point configurations. We derive a formula for the number of complex critical points of the triangulation problem, which seeks to reconstruct…
In this paper, we put the issue of dynamic equivalence of control systems in the context of pullbacks of coframings on infinite jet bundles over the state manifolds. While much attention has been given to differentially flat systems, i.e.…
Flatness of discrete-time systems can be characterized by two simple properties. There exists a map, a submersion, from the flat coordinates and their forward shifts to the state and the input of the discrete-time system, such that the…
We study controlled systems which are uniformly observable and differentially observable with an order larger than the system state dimension. We establish that they may be transformed into a (partial) triangular canonical form but with…
This paper investigates the robust output regulation problem of second-order nonlinear uncertain systems with an unknown exosystem. Instead of the adaptive control approach, this paper resorts to a robust control methodology to solve the…
This paper deals with the problem of robust output regulation of systems governed by nonlinear contraction semigroups. After adding an integral action to the system, we design a feedback law based on the so-called forwarding approach. For…
This paper presents a low-complexity, model-free, output-feedback controller for a class of unknown time-varying nonlinear systems with unknown input constraints. The controller achieves the preset control accuracy when the actuator is not…
We consider a linear relaxation of a generalized minimum-cost network flow problem with binary input dependencies. In this model the flows through certain arcs are bounded by linear (or more generally, piecewise linear concave) functions of…
A control system $\dot{q} = f(q,u)$ is said to be trivializable if there exists local coordinates in which the system is feedback equivalent to a control system of the form $\dot{q} = f(u)$. In this paper we characterize trivializable…
Natural language offers a convenient, flexible interface for controlling robotic C-arm X-ray systems, making advanced functionality and controls accessible. However, enabling language interfaces requires specialized AI models that interpret…
Neuromorphic control is receiving growing attention due to the multifaceted advantages it brings over more classical control approaches, including: sparse and on-demand sensing, information transmission, and actuation; energy-efficient…
We consider output trajectory tracking for a class of uncertain nonlinear systems whose internal dynamics may be modelled by infinite-dimensional systems which are bounded-input, bounded-output stable. We describe under which conditions…
Bilevel programs are optimization problems where some variables are solutions to optimization problems themselves, and they arise in a variety of control applications, including: control of vehicle traffic networks, inverse reinforcement…
There are two ways to compute Poincar\'e-Dulac normal forms of systems of ODEs. Under the original approach used by Poincar\'e the normalizing transformation is explicitly computed. On each step, the normalizing procedure requires the…
We present a triangulation--independent area--ordering prescription which naturally generalizes the well known path ordering one. For such a prescription it is natural that the two--form ``connection'' should carry three ``color'' indices…
This paper studies the problem for an affine hypersurface system to reach a polytopic target set starting from inside a polytope in the state space. We present an exhaustive solution which begins with a characterization of states which can…
In this article, we introduce the notion of differential flatness by pure prolongation: loosely speaking, a system admits this property if, and only if, there exists a pure prolongation of finite order such that the prolonged system is…
We show a simple, analytic equation describing a class of two-dimensional shapes well suited for representation of aircraft airfoil profiles. Our goal was to create a description characterized by a small number of parameters with easily…
A new convenient method of describing flat convex compact sets is proposed. It generalizes classical trigonometric functions $\sin$ and $\cos$. Apparently, this method may be very useful for explicit description of solutions of optimal…
The problem of inverting a system in presence of a series-defined output is analyzed. Inverse models are derived that consist of a set of algebraic equations. The inversion is performed explicitly for an output trajectory functional, which…