Related papers: Strong chain control sets and affine control syste…
In this article, we give a condition for the global controllability of affine nonlinear control systems with drifts on Euclidean spaces. Under regularity assumptions, the condition is necessary and sufficient in the codimension-1 and…
We explore oscillatory behaviour in a family of periodically driven spin chains which are subject to a weak measurement followed by post-selection. We discover a transition to an oscillatory phase as the strength of the measurement is…
In this paper, a nonlinear system aiming at reducing the signal transmission rate in a networked control system is constructed by adding nonlinear constraints to a linear feedback control system. Its stability is investigated in detail. It…
Virtual constraints are relations imposed in a control system that become invariant via feedback, instead of real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the…
In this paper, we investigate the controllability of bilinear control systems of the form $\dot{s} = As + uBs$, where $s \in \mathbb{S}^2$ and $A, B \in gl(3, \mathbb{R})$ are skew-symmetric matrices. First, we prove that the algebraic…
Control theory of dynamical systems offers a powerful framework for tackling challenges in deep neural networks and other machine learning architectures. We show that concepts such as simultaneous and ensemble controllability offer new…
Many optimal control problems exhibit a peculiar behavior that is not completely understood, the Fuller Phenomenon. In a naive way, this phenomenon can be described as the accumulation of discontinuities in the control function. In this…
This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…
There exist many examples of systems which have some symmetries, and which one may monitor with symmetry preserving controls. Since symmetries are preserved along the evolution, full controllability is not possible, and controllability has…
This paper investigates stability properties of affine optimal control problems constrained by semilinear elliptic partial differential equations. This is done by studying the so called metric subregularity of the set-valued mapping…
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…
In this paper, we investigate the controllability of a class of formation control systems. Given a directed graph, we assign an agent to each of its vertices and let the edges of the graph describe the information flow in the system. We…
Multidimensional systems coupled via complex networks are widespread in nature and thus frequently invoked for a large plethora of interesting applications. From ecology to physics, individual entities in mutual interactions are grouped in…
Switched affine systems are often used to model and control complex dynamical systems that operate in multiple modes. However, uncertainties in the system matrices can challenge their stability and performance. This paper introduces a new…
In this letter, we derive minimum-energy controls for a broad class of control-affine systems using a Lagrange multiplier fixed-point equation and a generally non-symmetric Gramian-like matrix. In feasible coercivity classes, this fixed…
Let $G$ be a semidirect product of a simply connected nilpotent Lie group and $\R$. For a left invariant control system on $G$ with a convex cone as a control domain, it is proved that the attainable sets coincides with a "halfspace" if the…
In this paper a new framework has been applied to the design of controllers which encompasses nonlinearity, hysteresis and arbitrary density functions of forward models and inverse controllers. Using mixture density networks, the…
We deduce stability results for finite control set and mixed-integer model predictive control with a downstream oversampling phase. The presentation rests upon the inherent robustness of model predictive control with stabilizing terminal…
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…
We consider logistic networks in which the control and disturbance inputs take values in finite sets. We derive a necessary and sufficient condition for the existence of robustly control invariant (hyperbox) sets. We show that a stronger…