Related papers: Asymptotics of motion planning complexity for cont…
In this paper we study the complexity of the motion planning problem for control-affine systems. Such complexities are already defined and rather well-understood in the particular case of nonholonomic (or sub-Riemannian) systems. Our aim is…
The problem of tracking an arbitrary curve in the state space is considered for underactuated driftless control-affine systems. This problem is formulated as the stabilization of a time-varying family of sets associated with a neighborhood…
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…
This paper is concerned with a shape optimization problem governed by a non-smooth PDE, i.e., the nonlinearity in the state equation is not necessarily differentiable. We follow the functional variational approach of [40] where the set of…
Given a finite-dimensional time continuous control system and $\varepsilon>0$, we address the question of the existence of controls that maintain the corresponding state trajectories in the $\varepsilon$-neighborhood of any prescribed path…
This paper addresses the equivalence problem of conic submanifolds in the tangent bundle of a smooth 2-dimensional manifold. Those are given by a quadratic relation between the velocities and are treated as nonholonomic constraints whose…
In this paper the problem is posed of determining the physically-meaningful asymptotic orderings holding for the statistical description of a large $N-$body system of hard spheres,\textit{ i.e.,} formed by $N\equiv\frac{1}{\varepsilon}…
In this work, we extend Aubry-Mather theory to the case of control systems with nonholonomic constraints. In this framework, we consider an optimal control problem where admissible trajectories are solutions of a control-affine equation.…
This paper discusses the approximate controllability of a fractional differential control problem driven by a nonlinear hemivariational inequality in a Hilbert space. First, we prove the existence of a mild solution for a fractional control…
For linear infinite systems the approximate controllability problem by control constraints is considered. Controllability conditions represented via system parameters are obtained. Partial differential control systems and control systems…
This paper is devoted to studying non-commensurate fractional order planar systems. Our contributions are to derive sufficient conditions for the global attractivity of non-trivial solutions to fractional-order inhomogeneous linear planar…
In this paper we address the problem of tracking control of nonlinear systems via contraction analysis. The necessary conditions of the systems which can achieve universal asymptotic tracking are studied under several different cases. We…
We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a…
We deal with a singularly perturbed optimal control problem with slow and fast variable depending on a parameter {\epsilon}. We study the asymptotic, as {\epsilon} goes to 0, of the corresponding value functions, and show convergence, in…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
This paper considers the problem of determining an optimal control action based on observed data. We formulate the problem assuming that the system can be modelled by a nonlinear state-space model, but where the model parameters, state and…
Nonlinear control-affine systems with time-varying vector fields are considered in the paper. We propose a unified control design scheme with oscillating inputs for solving the trajectory tracking and stabilization problems. This…
We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following…
In many statistical signal processing applications, the estimation of nuisance parameters and parameters of interest is strongly linked to the resulting performance. Generally, these applications deal with complex data. This paper focuses…
Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…