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We experimentally and theoretically study the thermodynamically optimal control of interacting multiple-particle systems, focusing on collections of colloidal particles individually confined in optical traps. We investigate protocols that…
Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…
This work introduces a port-Hamiltonian (PH) model for constrained mechanical systems, which is directly derived from the Lagrangian equations of motion. The present PH framework incorporates a singularity-free director representation of…
It is well known that any port-Hamiltonian (pH) system is passive, and conversely, any minimal and stable passive system has a pH representation. Nevertheless, this equivalence is only concerned with the input-output mapping but not with…
In this work, we present a Lyapunov framework for establishing stability with respect to a compact set for a nested interconnection of nonlinear dynamical systems ordered from slow to fast according to their convergence rates, where each of…
We study port-Hamiltonian systems on a familiy of intervals and characterise all boundary conditions leading to $m$-accretive realisations of the port-Hamiltonian operator and thus to generators of contractive semigroups. The proofs are…
This paper investigates the trajectory tracking problem of underactuated marine vessels within a polar coordinate framework. By introducing two polar coordinate transformations (PCTs), the original two-input-three-output second-order…
Reduced basis methods are popular for approximately solving large and complex systems of differential equations. However, conventional reduced basis methods do not generally preserve conservation laws and symmetries of the full order model.…
We show that the dynamics of a driven quantum system weakly coupled to the environment can exhibit two distinct regimes. While the relaxation basis is usually determined by the system+drive Hamiltonian (system-governed dynamics), we find…
We present a prescriptive framework for the event-triggered control of nonlinear systems. Rather than closing the loop periodically, as traditionally done in digital control, in event-triggered implementations the loop is closed according…
In this paper we address the problem of tracking control of nonlinear systems via contraction analysis. The necessary conditions of the systems which can achieve universal asymptotic tracking are studied under several different cases. We…
Hybrid systems combine both discrete and continuous state dynamics. Power electronic inverters are inherently hybrid systems: they are controlled via discrete-valued switching inputs which determine the evolution of the continuous-valued…
The equations of motion for electromechanical systems are traced back to the fundamental Lagrangian of particles and electromagnetic fields, via the Darwin Lagrangian. When dissipative forces can be neglected the systems are conservative…
With the integration of loads such as pulse power loads, a new control challenge is presented in meeting their high ramp rate requirements. Existing onboard generators are ramp rate limited. The inability to meet the load power due to ramp…
Optimal control of switched systems is challenging due to the discrete nature of the switching control input. The embedding-based approach addresses this challenge by solving a corresponding relaxed optimal control problem with only…
Controlling large-scale cyber-physical systems necessitates optimal distributed policies, relying solely on local real-time data and limited communication with neighboring agents. However, finding optimal controllers remains challenging,…
We analyze behavior of correlated electrons described by Hubbard-like models at intermediate and strong coupling. We show that with increasing interaction a pole in a generic two-particle Green function is approached. The pole signals…
This work proposes PH-based metrics for benchmarking impedance control. A causality-consistent PH model is introduced for mass-spring-damper impedance in Cartesian space. Based on this model, a differentiable, force-torque…
Constraint handling during tracking operations is at the core of many real-world control implementations and is well understood when dynamic models of the underlying system exist, yet becomes more challenging when data-driven models are…
This paper deals with the energy transport properties of charged particles with time-dependent damping force. Based on the proposed nonlinear dimensionless mapping,the stability and dynamical evolution of the particle system is analyzed…