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The question of open-loop control in the Gaussian regime may be cast by asking which Gaussian unitary transformations are reachable by turning on and off a given set of quadratic Hamiltonians. For compact groups, including finite…
We study the problem of motion feasibility for multiagent control systems on Lie groups with collision avoidance constraints. We first consider the problem for kinematic left invariant control systems and next, for dynamical control systems…
Condensing zero range processes (ZRPs) are stochastic interacting particle systems that exhibit phase separation with the emergence of a condensate. Standard approaches for deriving a hydrodynamic limit of the density fail in these models,…
This work explores the trade-off between the number of samples required to accurately build models of dynamical systems and the degradation of performance in various control objectives due to a coarse approximation. In particular, we show…
Neural Networks (NNs) can provide major empirical performance improvements for closed-loop systems, but they also introduce challenges in formally analyzing those systems' safety properties. In particular, this work focuses on estimating…
When stabilization of unstable periodic orbits or fixed points by the method given by Ott, Grebogi and Yorke (OGY) has to be based on a measurement delayed by $\tau$ orbit lengths, the performance of unmodified OGY method is expected to…
Let a control system and a target be given on an open subset of an Euclidean space. The existence of a Control Lyapunov Function - namely a positive definite, semiconcave, solution of the Hamilton-Jacobi inequality corresponding to the…
An analysis of stick-slip behavior and convergence of trajectories in the feedback-controlled motion systems with discontinuous Coulomb friction is provided. A closed-form parameter-dependent stiction region, around an invariant equilibrium…
In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…
In this article, we are interested in convexity properties of the free energy for stationary point processes on $\mathbb R$ w.r.t.\ a new geometry inspired by optimal transport. We will show for a rich class of pairwise interaction energies…
This paper studies the informativity problem for reachability and null-controllability of constrained systems. To be precise, we will focus on an unknown linear systems with convex conic constraints from which we measure data consisting of…
Given a nonlinear control system, a target set, a nonnegative integral cost, and a continuous function $W$, we say that the system is globally asymptotically controllable to the target with W-regulated cost, whenever, starting from any…
A recent approach to the control of underactuated systems is to look for control laws which will induce some specified structure on the closed loop system. This basic idea is used in several papers already. In this paper, we will describe…
Digital controller design for nonlinear systems may be complicated by the fact that an exact discrete-time plant model is not known. One existing approach employs approximate discrete-time models for stability analysis and control design,…
The paper deals with a problem of control of a system characterized by the fact that the influence of controls on the dynamics of certain functions of state variables (called observables) is relatively weak and the rates of change of these…
Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…
The Bounded Real Lemma, i.e., the state-space linear matrix inequality characterization (referred to as Kalman-Yakubovich-Popov or KYP inequality) of when an input/state/output linear system satisfies a dissipation inequality, has recently…
An imbalanced rotor is considered. A system of moving balancing masses is given. We determine the optimal movement of the balancing masses to minimize the imbalance on the rotor. The optimal movement is given by an open-loop control solving…
We examine Lagrangian techniques for computing underapproximations of finite-time horizon, stochastic reach-avoid level-sets for discrete-time, nonlinear systems. We use the concept of reachability of a target tube in the control literature…
This paper is concerned with the design of an augmented state feedback controller for finite-dimensional linear systems with nonlinear observation dynamics. Most of the theoretical results in the area of (optimal) feedback design are based…