Related papers: EBIF: Exact Bilinearization Iterative Form for Con…
In this paper, we provide a systematic approach for the design of stabilizing feedback controllers for nonlinear control systems using the Koopman operator framework. The Koopman operator approach provides a linear representation for a…
Typical iterated filters, such as the iterated extended Kalman filter (IEKF), iterated unscented Kalman filter (IUKF), and iterated posterior linearization filter (IPLF), have been developed to improve the linearization point (or density)…
This paper considers the problem of data-driven robust control design for nonlinear systems, for instance, obtained when discretizing nonlinear partial differential equations (PDEs). A robust learning control approach is developed for…
In this paper, we propose a deep unfolding-based framework for the output feedback control of systems with input saturation. Although saturation commonly arises in several practical control systems, there is still a scarce of effective…
We investigate a class of higher-order nonlinear dispersive equations posed on the circle, subject to additive forcing by a finite-dimensional control. Our main objective is to establish approximate controllability by using the…
This article presents an immersed finite element (IFE) method for solving the typical three-dimensional second order elliptic interface problem with an interface-independent Cartesian mesh. The local IFE space on each interface element…
This paper presents a control synthesis algorithm for dynamical systems to satisfy specifications given in a fragment of linear temporal logic. It is based on an abstraction-refinement scheme with nonuniform partitions of the state space. A…
We propose an adaptive iteratively linearized finite element method (AILFEM) in the context of strongly monotone nonlinear operators in Hilbert spaces. The approach combines adaptive mesh-refinement with an energy-contractive linearization…
Safe control for control-affine systems has been extensively studied. However, due to the complexity of system dynamics, it is challenging and time-consuming to apply these methods directly to non-control-affine systems, which cover a large…
Sensor calibration is the fundamental block for a multi-sensor fusion system. This paper presents an accurate and repeatable LiDAR-IMU calibration method (termed LI-Calib), to calibrate the 6-DOF extrinsic transformation between the 3D…
Finite abstractions (a.k.a. symbolic models) offer an effective scheme for approximating the complex continuous-space systems with simpler models in the discrete-space domain. A crucial aspect, however, is to establish a formal relation…
Covering and elimination inequalities are central to combinatorial optimization, yet their role has largely been studied in problem-specific settings or via no-good cuts. This paper introduces a unified perspective that treats these…
The output of physical systems is often accessible by measurements such as the 3D position of a robotic arm actuated by many actuators or the speckle patterns formed by shining the spot of a laser pointer on a wall. The selection of the…
This paper considers a class of bilinear systems with a neural network in the loop. These arise naturally when employing machine learning techniques to approximate general, non-affine in the input, control systems. We propose a controller…
Optimization-based solvers play a central role in a wide range of signal processing and communication tasks. However, their applicability in latency-sensitive systems is limited by the sequential nature of iterative methods and the high…
This paper proposes a method to compute finite abstractions that can be used for synthesizing robust hybrid control strategies for nonlinear systems. Most existing methods for computing finite abstractions utilize some global, analytical…
For homogeneous bilinear control systems, the control sets are characterized using a Lie algebra rank condition for the induced systems on projective space. This is based on a classical Diophantine approximation result. For affine control…
We present a novel Front-Tracking method, the Edge-Based Interface Tracking (EBIT) method for multiphase flow simulations. In the EBIT method, the markers are located on the grid edges and the interface can be reconstructed without storing…
Existing smart composite piezoelectric beam models in the literature mostly ignore the electro-magnetic interactions and adopt the linear elasticity theory. However, these interactions substantially change the controllability and…
In this paper, we consider the problem of piecewise affine abstraction of nonlinear systems, i.e., the overapproximation of its nonlinear dynamics by a pair of piecewise affine functions that "includes" the dynamical characteristics of the…