Related papers: EBIF: Exact Bilinearization Iterative Form for Con…
The nonlinear Fourier transform has the potential to overcome limits on performance and achievable data rates which arise in modern optical fiber communication systems when nonlinear interference is treated as noise. The periodic nonlinear…
Input-affine dynamical systems often arise in control and modeling scenarios, such as the data-driven case when state-derivative observations are recorded under bounded noise. Common tasks in system analysis and control include optimal…
Behavior-Interaction-Priority (BIP) is a layered embedded system design and verification framework that provides separation of functionality, synchronization, and priority concerns to simplify system design and to establish correctness by…
In this paper we present a direct adaptive control method for a class of uncertain nonlinear systems with a time-varying structure. We view the nonlinear systems as composed of a finite number of ``pieces,'' which are interpolated by…
This note studies the global controllability of a general nonlinear system by extending it to affine one. The state space of the obtained affine system admits a nature foliation, each leaf of which is diffeomorphic to the state space of the…
We present a new fixed mesh algorithm for solving a class of interface inverse problems for the typical elliptic interface problems. These interface inverse problems are formulated as shape optimization prob- lems whose objective…
An accurate method to compute enclosures of Abelian integrals is developed. This allows for an accurate description of the phase portraits of planar polynomial systems that are perturbations of Hamiltonian systems. As an example, it is…
This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…
Robotic imitation learning has achieved impressive success in learning complex manipulation behaviors from demonstrations. However, many existing robot learning methods do not explicitly account for the physical symmetries of robotic…
The Ensemble Score Filter (EnSF) has emerged as a promising approach to leverage score-based diffusion models for solving high-dimensional and nonlinear data assimilation problems. While initial applications of EnSF to the Lorenz-96 model…
This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from…
We develop an optimization-based framework for joint real-time trajectory planning and feedback control of feedback-linearizable systems. To achieve this goal, we define a target trajectory as the optimal solution of a time-varying…
Generalized parameter estimation-based observers have proven very successful to deal with systems described in state-affine form. In this paper, we enlarge the domain of applicability of this method proposing an algebraic procedure to…
Linearising the dynamics of nonlinear mechanical systems is an important and open research area. A common approach is feedback linearisation, which is a nonlinear control method that transforms the input-output response of a nonlinear…
It is known that invariance and equivariance properties for systems on Lie groups can be exploited in the design of high performance and robust observers and filters for real-world robotic systems. This paper proposes an analysis framework…
This paper investigates the control of nonlinear systems using a piecewise linear approximation framework. The proposed approach combines a PID controller with locally linearized models obtained by partitioning the nonlinear function into…
In this paper we investigate aspects of rigidity and flexibility for conformal iterated function systems. For the case in which the systems are not essentially affine we show that two such systems are conformal equivalent if and only if in…
A numerical framework for rigorous linear stability analysis of two-phase stratified flows of two immiscible fluids in horizontal circular pipes is presented. For the first time, three-dimensional disturbances, including those at the…
This paper develops a robust control synthesis method for uncertain linear systems with input saturation in the framework of integral quadratic constraints (IQCs). The system is reformulated as a linear fractional representation (LFR) that…
Certifying the safety of nonlinear systems, through the lens of set invariance and control barrier functions (CBFs), offers a powerful method for controller synthesis, provided a CBF can be constructed. This paper draws connections between…