Related papers: Complete lift of control system
In this work, we found a non trivial topology to achieve the controllability for linear and nonlinear system in finite or infinite time horizon. We give several examples illustrating this topologizing method for the controllability results.…
Using tools and techniques from geometric control theory, namely Hermann-Nagano theorem, we prove controllability result for a mechanical system consisting of a planar double inverted pendulum fixed to a wheeled cart that can move linearly…
We study the controllability of a closed control-affine quantum system driven by two or more external fields. We provide a sufficient condition for controllability in terms of existence of conical intersections between eigenvalues of the…
We present complexity results regarding a matching-type problem related to structural controllability of dynamical systems modelled on graphs. Controllability of a dynamical system is the ability to choose certain inputs in order to drive…
This paper deals with strong structural controllability of linear structured systems in which the system matrices are given by zero/nonzero/arbitrary pattern matrices. Instead of assuming that the nonzero and arbitrary entries of the system…
We prove that the multidimensional Schr\"odinger equation is exactly controllable in infinite time near any point which is a finite linear combination of eigenfunctions of the Schr\"odinger operator. We prove that, generically with respect…
In this paper, we study the controllability of a Schr\"odinger equation with mixed boundary conditions on disjoint subsets of the boundary: dynamic boundary condition of Wentzell type, and Dirichlet boundary condition. The main result of…
We consider the decidability of state-to-state reachability in linear time-invariant control systems over continuous time. We analyse this problem with respect to the allowable control sets, which are assumed to be the image under a linear…
Determining whether a nonlinear multi-input system is differentially flat remains challenging. One way to obtain computationally tractable sufficient conditions is to give complete characterizations of flat normal forms. We introduce a…
The method of controlled Lagrangians for discrete mechanical systems is extended to include potential shaping in order to achieve complete state-space asymptotic stabilization. New terms in the controlled shape equation that are necessary…
The present paper shows that the bounded control set of a linear system on a connected Lie group $G$ contains all the bounded orbits of the system. As a consequence, its closure is the continuous image of the cartesian product of the set of…
In this thesis, we provide new insights into the theory of cascade feedback linearization of control systems. In particular, we present a new explicit class of cascade feedback linearizable control systems, as well as a new obstruction to…
This paper presents analyses for the maximum hands-off control using the geometric methods developed for the theory of turnpike in optimal control. First, a sufficient condition is proved for the existence of the maximum hands-off control…
In this article we prove semiglobal stabilization and exact controllability results for nonlinear plate equations with hinged boundary conditions and analytic nonlinearity. These results hold when the damping or control is localized in a…
Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…
This paper extends our previous study on an explicit saturated control for a quadcopter, which ensures both constraint satisfaction and stability thanks to the linear representation of the system in the flat output space. The novelty here…
We present a method of design of control systems for $n$ bodies in the real line $\Bbb R^1$ and on the unit circle $ S^1$, to be collision-free and controllable. The problem reduces to designing a control-affine system in $\Bbb R^n$ and in…
In this paper, we consider the infinite horizon optimal control problem for nonlinear systems. Under the conditions of controllability of the linearized system around the origin, and nonlinear controllability of the system to a terminal set…
The note focuses on the differential geometric approach to the study of nonlinear systems that are affine in control. We first develop normal forms for nonlinear system affine in control. Based on these normal forms, we then address the…
Robotic performance emerges from the coupling of body and controller, yet it remains unclear when morphology-control co-design is necessary. We present a unified framework that embeds morphology and control parameters within a single neural…