Related papers: Bilinear Controllability of a Simple Reparable Sys…
The controllability of a network is a theoretical problem of relevance in a variety of contexts ranging from financial markets to the brain. Until now, network controllability has been characterized only on isolated networks, while the vast…
In this paper, we revisit energy-based concepts of controllability and reformulate them for control-affine nonlinear systems perturbed by white noise. Specifically, we discuss the relation between controllability of deterministic systems…
In this paper, we consider the problem of quantifying systemic redundancy in reliable systems having multiple controllers with overlapping functionality. In particular, we consider a multi-channel system with multi-controller configurations…
We consider an optimal control problem where the state is governed by a free boundary problem called the two-phase membrane problem and the control appears in the coefficients of the characteristic function of the positivity and negativity…
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…
This paper concerns the reliability of a pair of coupled oscillators in response to fluctuating inputs. Reliability means that an input elicits essentially identical responses upon repeated presentations regardless of the network's initial…
The theoretical ability of modular robots to reconfigure in response to complex tasks in a priori unknown environments has frequently been cited as an advantage and remains a major motivator for work in the field. We present a modular robot…
Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under…
A system is called positive if the set of non-negative states is left invariant by the dynamics. Stability analysis and controller optimization are greatly simplified for such systems. For example, linear Lyapunov functions and storage…
A new notion of controllability, eigenstate controllability, is defined for finite-dimensional bilinear quantum mechanical systems which are neither strongly completely controllably nor completely controllable. And a quantum control…
This the text of a proceeding accepted for the 21st International Symposium on Mathematical Theory of Networks and Systems (MTNS 2014). We present some results of an ongoing research on the controllability problem of an abstract bilinear…
We consider controllable linear discrete-time systems with bounded perturbations and present two methods to compute robust controlled invariant sets. The first method tolerates an arbitrarily small constraint violation to compute an…
Under a regularity assumption we prove that reachability in fixed time for nonlinear control systems is robust under control sampling.
This paper consider the problem of determining the reliability of a software system which can be decomposed in a number of modules. We have derived the expression of the reliability of a system using the Markovian model for the transfer of…
Multi-stability is a widely observed phenomenon in real complex networked systems, such as technological infrastructures, ecological systems, gene regulation, transportation and more. When a system functions normally but there exists also a…
In mathematics and engineering, control theory is concerned with the analysis of dynamical systems through the application of suitable control inputs. One of the prominent problems in control theory is controllability which concerns the…
Vehicles are complex Cyber Physical Systems (CPS) that operate in a variety of environments, and the likelihood of failure of one or more subsystems, such as the engine, transmission, brakes, and fuel, can result in unscheduled downtime and…
In this paper, we provide a novel characterization of the reachable set of discrete-time switched linear control systems and a Kalman-type criterion for controllability, assuming that the switching parameter can be used as a control…
We consider the problem of steering control for the systems of one spin 1/2 particle and two interacting homonuclear spin 1/2 particles in an electro-magnetic field. The describing models are bilinear systems whose state varies on the Lie…
This note studies the global controllability of a general nonlinear system by extending it to affine one. The state space of the obtained affine system admits a nature foliation, each leaf of which is diffeomorphic to the state space of the…