Related papers: Flatness-based control revisited: The HEOL setting

Attitude control systems naturally evolve on nonlinear configuration spaces, such as S^2 and SO(3). The nontrivial topological properties of these configuration spaces result in interesting and complicated nonlinear dynamics when studying…

We survey classical, machine learning, and data-driven system identification approaches to learn control-relevant and physics-informed models of dynamical systems. Recently, machine learning approaches have enabled system identification…

Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…

An autonomous adaptive MPC architecture is presented for control of heating, ventilation and air condition (HVAC) systems to maintain indoor temperature while reducing energy use. Although equipment use and occupant changes with time,…

Fields offer a versatile approach for describing complex systems composed of interacting and dynamic components. In particular, some of these dynamical and stochastic systems may exhibit goal-directed behaviors aimed at achieving specific…

Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…

Let H denote the 3-dimensional Heisenberg Lie group. The present paper classify all possible linear control systems on the homogeneous spaces of H through its closed subgroups and expose a detailed study on the control behavior…

The H\"uckel Hamiltonian is an incredibly simple tight-binding model famed for its ability to capture qualitative physics phenomena arising from electron interactions in molecules and materials. Part of its simplicity arises from using only…

Based on the {\it nonlinear coherent states} method, a general and simple algebraic formalism for the construction of \textit{`$f$-deformed intelligent states'} has been introduced. The structure has the potentiality to apply to systems…

Control systems are an integral part of almost every engineering and physical system and thus their accurate analysis is of utmost importance. Traditionally, control systems are analyzed using paper-and-pencil proof and computer simulation…

This contribution develops an algebraic approach to obtain a controller form for a class of linear hyperbolic MIMO systems, bidirectionally coupled with a linear ODE system at the unactuated boundary. After a short summary of established…

This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…

The spectral analysis of the electromagnetic field on the background of a infinitely thin flat plasma layer is carried out. This model is loosely imitating a single base plane from graphite and it is of interest for theoretical studies of…

Even though modern service-oriented and data-oriented architectures promise to deliver loosely coupled control systems, they are inherently brittle as they commonly depend on a priori agreed interfaces and data models. At the same time, the…

We develop a hierarchical controller for head-to-head autonomous racing. We first introduce a formulation of a racing game with realistic safety and fairness rules. A high-level planner approximates the original formulation as a discrete…

In this survey, we present a geometric description of Lagrangian and Hamiltonian Mechanics on Lie algebroids. The flexibility of the Lie algebroid formalism allows us to analyze systems subject to nonholonomic constraints, mechanical…

Completely integrable Hamiltonian systems look promising for controllability since their first integrals are stable under an internal evolution, and one may hope to find a perturbation of a Hamiltonian which drives the first integrals at…

The Transformer architecture has achieved tremendous success in natural language processing, computer vision, and scientific computing through its self-attention mechanism. However, its core components-positional encoding and attention…

This paper gives a summary of a body of work at the intersection of control theory and smooth nonlinear dynamics. The main idea is to transfer the concept of uniform hyperbolicity, central to the theory of smooth dynamical systems, to…

In a paper by Willems and coauthors it was shown that persistently exciting data can be used to represent the input-output behavior of a linear system. Based on this fundamental result, we derive a parametrization of linear feedback systems…