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This paper deals with the computation of the largest robust control invariant sets (RCISs) of constrained nonlinear systems. The proposed approach is based on casting the search for the invariant set as a graph theoretical problem.…
In this paper we establish several results on approximate controllability of a semilinear wave equation by making use of a single multiplicative control. These results are then applied to discuss the exact controllability properties for the…
We consider the problem of topological linearization of smooth (C infinity or real analytic) control systems, i.e. of their local equivalence to a linear controllable system via point-wise transformations on the state and the control…
In this paper, first, it is shown that if a nonlinear time-varying system is contractive, then it is incrementally exponentially stable. Second, leveraging this result, under mild restrictions, an approach is proposed to design feedforward…
The paper presents new sufficient conditions for the property of strong bi-metric regularity of the optimality map associated with an optimal control problem which is affine with respect to the control variable ({\em affine problem}). The…
In this paper we consider a linear system represented by a coupling graph between subsystems and propose a distributed control scheme capable to guarantee asymptotic stability and satisfaction of constraints on system inputs and states.…
This article presents a scalable implementation of nonlinear Gramian-based control synthesis for control-affine systems, including a minimum energy control construction. These synthesis advances are achieved by addressing key computational…
We propose an extension of the theory of control sets to the case of inputs satisfying a dwell-time constraint. Although the class of such inputs is not closed under concatenation, we propose a suitably modified definition of control sets…
This paper addresses a motion planning problem of the second-order chained form system. The author presents a novel control approach based on switching a state. The second-order chained form system is composed of three subsystems including…
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…
In this paper we describe the Lie-theoretic structure of ${\rm SO}(1,4)$ and consider control systems given by certain vector fields of ${\rm SO}(1,4)$. Then we explicitly describe its invariant control sets in the unique ${\rm…
We consider networks of massive particles connected by non-linear springs. Some particles interact with heat baths at different temperatures, which are modeled as stochastic driving forces. The structure of the network is arbitrary, but the…
Semilinear parabolic systems with bi-linear nonlinearities cover a lot of applications and their optimal control leads to relatively simple optimality conditions. An example is the incompressible Navier-Stokes system for homogeneous fluids,…
In this paper, a necessary and sufficient condition for the controllability of networked systems with heterogeneous dynamics is established where the nodes are higher dimensional linear time invariant systems and the network topology is…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
We discuss control of low-dimensional systems which, when uncontrolled, are integrable in the Hamiltonian sense. The controller targets an exact solution of the system in a region where the uncontrolled dynamics has invariant tori. Both…
It is first shown that a smooth controllable system on a compact manifold is finite time controllable. The technique of proof is close to the one of Sussmann's orbit theorem, and no rank condition is required. This technique is also used to…
This paper deals with fractional-order controlled systems and fractional-order controllers in the frequency domain. The mathematical description by fractional transfer functions and properties of these systems are presented. The new ways…
This paper is concerned with a constrained stochastic linear-quadratic optimal control problem, in which the terminal state is fixed and the initial state is constrained to lie in a stochastic linear manifold. The controllability of…
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…