Related papers: Geometric stabilization of virtual linear nonholon…

This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…

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…

In this paper, we present a universal control technique, the non-holonomic control, which allows us to impose any arbitrarily prescribed unitary evolution to any quantum system through the alternate application of two well-chosen…

A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…

Lagrangian Neural Networks (LNNs) are a powerful tool for addressing physical systems, particularly those governed by conservation laws. LNNs can parametrize the Lagrangian of a system to predict trajectories with nearly conserved energy.…

This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…

This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed…

We derive conditions for a nonholonomic system subject to nonlinear constraints (obeying Chetaev's rule) to preserve a smooth volume form. When applied to affine constraints, these conditions dictate that a basic invariant density exists if…

The aim of this paper is to explore the relationship between invariant cones and nonlinear normal modes in piecewise linear mechanical systems. As a key result, we extend the invariant cone concept, originally established for homogeneous…

This paper is devoted to the development of adaptive control schemes for uncertain discrete-time systems, which guarantee robust, global, exponential convergence to the desired equilibrium point of the system. The proposed control scheme…

This paper investigates the dynamics of nonholonomic mechanical systems, focusing on fundamental variational assumptions and the role of the transpositional rule. We analyze how the Cetaev condition and the first variation of constraints…

We study local stabilization of nonlinear control systems under explicit gain constraints on the feedback law. Using a quantitative refinement of Brockett's openness condition, we introduce the notion of a maximal continuous openness rate…

In a previous article by the author, it was shown that one could effectively give a variational formulation to non-conservative mechanical systems by starting with the first variation functional instead of an action functional. In this…

This paper addresses the feasibility of virtual holonomic constraints (VHCs) in the context of motion planning for underactuated mechanical systems with a single degree of underactuation. While existing literature has established a widely…

We consider nonholonomic systems with nonlinear restrictions with respect to the velocities. The mathematical problem is formulated by means of the Voronec equations extended to the nonlinear case. The main point of the paper is the balance…

There has been increasing interest in methodologies that incorporate physics priors into neural network architectures to enhance their modeling capabilities. A family of these methodologies that has gained traction are Hamiltonian neural…

Studying structural properties of linear dynamical systems through invariant subspaces is one of the key contributions of the geometric approach to system theory. In general, a model of the dynamics is required in order to compute the…

This paper studies the Lagrange stabilization of a class of nonlinear systems whose linear part has a singular system matrix and which have multiple periodic (in state) nonlinearities. Both state and output feedback Lagrange stabilization…

The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that…

Sampling arises simultaneously with input and output delays in networked control systems. When the delay is left uncompensated, the sampling period is generally required to be sufficiently small, the delay sufficiently short, and, for…