Related papers: Flatness-based control revisited: The HEOL setting
We present Multitask Soft Option Learning(MSOL), a hierarchical multitask framework based on Planning as Inference. MSOL extends the concept of options, using separate variational posteriors for each task, regularized by a shared prior.…
A conceptual and computational framework is proposed for modelling of human sensorimotor control, and is exemplified for the sensorimotor task of steering a car. The framework emphasises control intermittency, and extends on existing models…
A geometric form of Euler-Lagrange equations is developed for a chain pendulum, a serial connection of $n$ rigid links connected by spherical joints, that is attached to a rigid cart. The cart can translate in a horizontal plane acted on by…
An input-output model of a two-level quantum system in the Heisenberg picture is of bilinear form with constant system matrices, which allows the introduction of the concepts of controllability and observability in analogy with those of…
Control at the interface between the classical and the quantum world is fundamental in quantum physics. In particular, how classical control is enhanced by coherence effects is an important question both from a theoretical as well as from a…
This paper proposes a feedback control perspective for Human-Earth Systems (HESs) which essentially are complex systems that capture the interactions between humans and nature. Recent attention in HES research has been directed towards…
Developments in the foundations of quantum mechanics have identified several attributes and tests associated with the "quantumness" of systems, including entanglement, nonlocality, quantum erasure, Bell test, etc. Here we introduce and…
Integrated energy systems (IES) are complex heterogeneous architectures that typically encompass power sources, hydrogen electrolyzers, energy storage, and heat exchangers. This integration is achieved through operating control strategy…
Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the complexity of motion planning and control, thus hindering…
This is a brief introduction to control theory in finite-dimensional spaces. The material is partly based on my lectures for the Master 1 program in Math\'ematiques et applications at Sorbonne University, delivered over the past few years.…
Today's heavy-duty mobile machines (HDMMs) face two transitions: from diesel-hydraulic actuation to clean electric systems driven by climate goals, and from human supervision toward greater autonomy. Diesel-hydraulic systems have long…
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
This work primarily focuses on an operator inference methodology aimed at constructing low-dimensional dynamical models based on a priori hypotheses about their structure, often informed by established physics or expert insights. Stability…
Conventional approaches for controlling open quantum systems use coherent control which affects the system's evolution through the Hamiltonian part of the dynamics. Such control, although being extremely efficient for a large variety of…
This paper deals with fractional-order controlled systems and fractional-order controllers in the discrete domain. The mathematical description by the fractional difference equations and properties of these systems are presented. A…
(a). Using time analyticity result, we address a basic question for a nonhomogeneous backward heat equation (exact control problem) in the setting of smooth domains and compact manifolds, namely: when is essentially time independent control…
Tabular foundation models like TabPFN and TabICL achieve state-of-the-art performance through in-context learning, yet their architectures remain fundamentally opaque. We introduce KernelICL, a framework to enhance tabular foundation models…
Differentially flat models are frequently used to design feedforward controllers for electromechanical systems. However, control performance depends on model accuracy, which makes feedback imperative. This paper presents a control scheme…
The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…
This paper presents an intelligent autonomous parking system with Hybrid Fuzzy Controllers (HFCs). The system enables intelligent vehicles to perform slot detection, parallel and vertical parking in a completely unmanned environment. The…