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We present a data-driven framework that extends the predictive capability of classical lifting-line theory (LLT) to a wider aerodynamic regime by incorporating higher-fidelity aerodynamic data from panel method simulations. A neural network…
Sufficient and necessary conditions are established for controllability of affine control systems where the control is constrained to a set whose convex hull contains the origin but is not necessarily, in contrast with previously known…
This paper addresses the problem of finite horizon constrained robust optimal control for nonlinear systems subject to norm-bounded disturbances. To this end, the underlying uncertain nonlinear system is decomposed based on a first-order…
We establish almost sure invariance principles, a strong form of approximation by Brownian motion, for non-stationary time-series arising as observations on dynamical systems. Our examples include observations on sequential expanding maps,…
Adaptive tracking control for rigid body dynamics is of critical importance in control and robotics, particularly for addressing uncertainties or variations in system model parameters. However, most existing adaptive control methods are…
This paper presents a subsystem-based adaptive control framework for serial flexible manipulators with an arbitrary number of links, in which the elastic deformation PDE of each link is carried through the entire control design without…
We develop a discrete-time optimal control framework for systems evolving on Lie groups. Our work generalizes the original Differential Dynamic Programming method, by employing a coordinate-free, Lie-theoretic approach for its derivation. A…
Traditional vertical take-off and landing (VTOL) aircraft can not achieve optimal efficiency for various payload weights and has limited mobility due to its under-actuation. With the thrust-vectoring mechanism, the proposed modular team UAV…
This work is concerned with practical stabilization of nonlinear systems by means of inf-convolution-based sample-and-hold control. It is a fairly general stabilization technique based on a generic non-smooth control Lyapunov function (CLF)…
Continuous linear dynamical systems are used extensively in mathematics, computer science, physics, and engineering to model the evolution of a system over time. A central technique for certifying safety properties of such systems is by…
Atmospheric flows exhibit long-range spatiotemporal correlations manifested as the fractal geometry to the global cloud cover pattern concomitant with inverse power-law form for power spectra of temporal fluctuations of all scales ranging…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
A closed-form analytical solution is found for the nonlinear dynamics of isolated, near-threshold waves in the presence of strong scattering. The proposed solution can be useful in verifying codes across several disciplines, including…
We consider nonholonomic systems whose configuration space is the central extension of a Lie group and have left invariant kinetic energy and constraints. We study the structure of the associated Euler-Poincare-Suslov equations and show…
Suppose a residually finite group $G$ acts cocompactly on a contractible complex with strict fundamental domain $Q$, where the stabilizers are either trivial or have normal $\mathbb{Z}$-subgroups. Let $\partial Q$ be the subcomplex of $Q$…
Contraction theory for dynamical systems on Euclidean spaces is well-established. For contractive (resp. semi-contractive) systems, the distance (resp. semi-distance) between any two trajectories decreases exponentially fast. For partially…
We study the dynamics of countable groups on their respective spaces of quasimorphisms. For cohomologically non-trivial quasimorphisms we show that there are no invariant measures and classify stationary measures. Within the equivalence…
We propose a tracking control law for the fully actuated rigid body system in the presence of any unknown constant disturbance by employing quaternions with the stable embedding technique and Lyapunov stability theory. The stable embedding…
Designing spacecraft trajectories remains challenging in the presence of stochastic effects such as maneuver execution errors and observation uncertainties. Although covariance control and belief-space planning provide useful tools for…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…