Related papers: Approximate Tracking Controllability of Systems wi…
Structural symmetries of linear dynamical systems can be exploited for decoupling the dynamics and reducing the computational complexity of the controller implementation. However, in practical applications, inexact structural symmetries…
This work proposes a decision-making framework for partially observable systems in continuous time with discrete state and action spaces. As optimal decision-making becomes intractable for large state spaces we employ approximation methods…
In this paper, we study the well-posedness and approximate controllability of a class of network systems having delays and controls at the boundary conditions. The particularity of this work is that the network system is defined on infinite…
This paper studies controllability of a discrete-time linear dynamical system using nonnegative and sparse inputs. These constraints on the control input arise naturally in many real-life systems where the external influence on the system…
This paper completely solves the controllability problems of two-dimensional multi-input discrete-time bilinear systems with and without drift. Necessary and sufficient conditions for controllability, which cover the existing results, are…
In this article we study the internal controllability of 1D linear hyperbolic balance laws when the number of controls is equal to the number of state variables. The controls are supported in space in an arbitrary open subset. Our main…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
The main objective of this article is to develop a matrix pencil approach for the study of the controllability and reachability of a class of linear singular discrete time systems. The description equation of a practical system may be…
In this paper, we discuss an approximation strategy for solving the Linear Quadratic Tracking that is both forward and local in time. We exploit the known form of the value function along with a time reversal transformation that nicely…
We consider the problem of steering a collection of n particles that obey identical n-dimensional linear dynamics via a common state feedback law towards a rearrangement of their positions, cast as a controllability problem for a dynamical…
This paper addresses the trajectory-tracking problem for discrete-time linear time-invariant systems with bounded parametric uncertainty, subject to hard constraints on system states, control inputs, and input rates. Unlike existing…
This paper presents a technique to drive the state of a constrained nonlinear system to a specified target state in finite time, when the system suffers a partial loss in control authority. Our technique builds on a recent method to control…
In this paper, we consider the well-known Fattorini's criterion for approximate controllability of infinite dimensional linear systems of type $y'=A y+Bu$. We precise the result proved by H. O. Fattorini in \cite{Fattorini1966} for bounded…
This paper studies the structural controllability of a class of uncertain switched linear systems, where the parameters of subsystems state matrices are either unknown or zero. The structural controllability is a generalization of the…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
The goal of this article is to discuss controllability properties for an abstract linear system of the form $y' = Ay + Bu$ under some additional linear projection constraints on the control $u$ or / and on the controlled trajectory $y$. In…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
Problem of damping of an arbitrary number of linear oscillators under common bounded control is considered. We are looking for a feedback control steering the system to the equilibrium. The obtained control is asymptotically optimal: the…
We give a characterization of the controllability for discrete-time linear systems with convex output constraints. It extends all previously known characterizations in the literature, as well as our previous results on controllability of…
Approximate simulation, an extension of simulation relations from formal methods to continuous systems, is a powerful tool for hierarchical control of complex systems. Finding an approximate simulation relation between the full "concrete"…