Related papers: Flatness-based control revisited: The HEOL setting
Controllability properties are studied for control-affine systems depending on a parameter and with constrained control values. The uncontrolled systems in dimension two and three are subject to a homoclinic bifurcation. This generates two…
This paper considers control systems defined on Lie algebroids. After deriving basic controllability tests for general control systems, we specialize our discussion to the class of mechanical control systems on Lie algebroids. This class of…
This paper addresses the problem of deformation control of an Euler-Bernoulli beam with in-domain actuation. The proposed control scheme consists in first relating the system model described by an inhomogeneous partial differential equation…
Living soft tissues appear to promote the development and maintenance of a preferred mechanical state within a defined tolerance around a so-called set-point. This phenomenon is often referred to as mechanical homeostasis. In contradiction…
Differential flatness has been used to provide diffeomorphic transformations for non-linear dynamics to become a linear controllable system. This greatly simplifies the control synthesis since in the flat output space, the dynamics appear…
We consider the set-point control problem for nonlinear systems with flat output that are subject to perturbations. The nonlinear dynamics as well as the perturbations are locally Lipschitz. We apply the model-following control (MFC)…
We derive in a straightforward way the exact controllability of the 1-D Schrodinger equation with a Dirichlet boundary control. We use the so-called flatness approach, which consists in parameterizing the solution and the control by the…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
No mixed research of hybrid and fractional-order systems into a cohesive and multifaceted whole can be found in the literature. This paper focuses on such a synergistic approach of the theories of both branches, which is believed to give…
This contribution is concerned with the motion planning for underactuated Euler-Bernoulli beams. The design of the feedforward control is based on a differential parametrization of the beam, where all system variables are expressed in terms…
Feedback optimization is a control paradigm that enables physical systems to autonomously reach efficient operating points. Its central idea is to interconnect optimization iterations in closed-loop with the physical plant. Since iterative…
We study distributed control for a network of nonlinear, differentially flat subsystems subject to dynamic coupling. Although differential flatness simplifies planning and control for isolated subsystems, the presence of coupling can…
A two-phase model predictive controller (MPC) is proposed for underactuated surface vessel operation in confined environments. For general driving maneuvers (phase one) the ship's geometry is not considered explicitly while in more…
This paper studies the $\alpha$-stability property of differentially flat nonlinear dynamical systems. The results build off the recently introduced notion of $\alpha$-stability, which is particularly amenable to characterize the ability of…
The steering control of an autonomous unicycle is considered. The underlying dynamical model of a single rolling wheel is discussed regarding the steady state motions and their stability. The unicycle model is introduced as the simplest…
Feedforward steering control is a key component of hierarchical control architectures for autonomous racing. The goal is to reduce steering corrections from the feedback controllers by predicting the vehicle's inverse lateral dynamics. This…
We study the cooling performance of optical-feedback controllers for open optical and mechanical resonators in the Linear Quadratic Gaussian setting of stochastic control theory. We utilize analysis and numerical optimization of closed-loop…
Identifying a full basis of operators to a given order is key to the generality of Effective Field Theory (EFT) and is by now a problem of known solution in terms of the Hilbert series. The present work is concerned with hidden symmetry in…
We develop and analyze a new method for manipulation of energy in a quantum harmonic oscillator using coherent, e.g., electromagnetic, field and incoherent control. Coherent control is typically implemented by shaped laser pulse or tailored…
We introduce a general framework, based on collision models and discrete CP-maps, to describe on an equal footing coherent and measurement-based feedback control of quantum mechanical systems. We apply our framework to prominent tasks in…