Related papers: Control analysis and synthesis for general control…
In this letter, we derive minimum-energy controls for a broad class of control-affine systems using a Lagrange multiplier fixed-point equation and a generally non-symmetric Gramian-like matrix. In feasible coercivity classes, this fixed…
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…
Recent years have witnessed a wave of research activities in systems science toward the study of population systems. The driving force behind this shift was geared by numerous emerging and ever-changing technologies in life and physical…
This paper studies formal synthesis of controllers for continuous-space systems with unknown dynamics to satisfy requirements expressed as linear temporal logic formulas. Formal abstraction-based synthesis schemes rely on a precise…
This paper investigates the controllability of finite-dimensional linear fractional systems involving an uncertain parameter. We establish new results on the simultaneous and average controllability. In particular, we show that average…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
It is known that if a nonlinear control affine system without drift is bracket generating, then its associated sub-Laplacian is invertible under some conditions on the domain. In this note, we investigate the converse. We show how…
Controllability and observability Gramians, along with their inverses, are widely used to solve various problems in control theory. This paper proposes spectral decompositions of the controllability Gramian and its inverse based on system…
In the contest of optimal control problems, regularity results for optima are known when addressing fiber-strictly convex Lagrangian. For infinite time horizons, or for settings with infinite dimensional dynamics, the equivalence between…
To appropriately select control nodes of a large-scale network system, we propose two control centralities called volumetric and average energy controllability scores. The scores are the unique solutions to convex optimization problems…
Control synthesis under constraints is at the forefront of research on autonomous systems, in part due to its broad application from low-level control to high-level planning, where computing control inputs is typically cast as a constrained…
We develop a linear systems theory that coincides with the existing theories for continuous and discrete dynamical systems, but that also extends to linear systems defined on nonuniform time domains. The approach here is based on…
The control system described by Urysohn type integral equation is considered where the system is nonlinear with respect to the phase vector and is affine with respect to the control vector. The control functions are chosen from the closed…
In this paper an approximation of the set of multivariable and $L_2$ integrable trajectories of the control system described by Urysohn type integral equation is considered. It is assumed that the system is affine with respect to the…
A controller synthesis method for state- and input-constrained nonlinear systems is presented that seeks continuous piecewise affine (CPA) Lyapunov-like functions and controllers simultaneously. Non-convex optimization problems are…
Positive linear systems on arbitrary time scales are studied. The theory developed in the paper unifies and extends concepts and results known for continuous-time and discrete-time systems. A necessary and sufficient condition for a linear…
Robust controller synthesis attracts reviving research interest, driven by the rise of learning-based systems where uncertainty and perturbation are ubiquitous. Facing an uncertain situation, a robustly stabilizing controller should…
We introduce a principled generative framework for graph signals that enables explicit control of feature heterophily, a key property underlying the effectiveness of graph learning methods. Our model combines a Lipschitz graphon-based…
The control of dynamical, networked systems continues to receive much attention across the engineering and scientific research fields. Of particular interest is the proper way to determine which nodes of the network should receive external…
In this paper, we propose several set-point control schemes for achieving finite-time regulation in a class of Euler--Lagrange systems with $n$ degrees of freedom and uncertain potential energy. The proposed controllers are based on…