Related papers: Complete lift of control system
Control barrier functions (CBFs) have a well-established theory in Euclidean spaces, yet still lack general formulations and constructive synthesis tools for systems evolving on manifolds common in robotics and aerospace applications. In…
We propose a new controllability property for linear time varying control systems in finite dimension: the nonuniform complete controllability, which is halfway between the classical Kalman's properties of complete controllability and…
The paper deals with the controllability of a degenerate beam equation. In particular, we assume that the left end of the beam is fixed, while a suitable control $f$ acts on the right end of it. As a first step we prove the existence of a…
Structural controllability challenges arise from imprecise system modeling and system interconnections in large scale systems. In this paper, we study structural control of bilinear systems on the special Euclidean group. We employ graph…
In this paper, we investigate the controllability of a class of formation control systems. Given a directed graph, we assign an agent to each of its vertices and let the edges of the graph describe the information flow in the system. We…
We consider a control scheme where a quantum system S is put in contact with an auxiliary quantum system A and the control can affect A only, while S is the system of interest. The system S is then controlled indirectly through the…
Using the semigroup approach to abstract boundary control problems we characterize the space of all exactly reachable states. Moreover, we study the situation when the controls of the system are required to be positive. The abstract results…
Indirect controllability of an arbitrary finite dimensional quantum system (N-dimensional qudit) through a quantum accessor is investigated. Here, The qudit is coupled to a quantum accessor which is modeled as a fully controllable spin…
In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the…
Continuum soft robots are mechanical systems entirely made of continuously deformable elements. This design solution aims to bring robots closer to invertebrate animals and soft appendices of vertebrate animals (e.g., an elephant's trunk, a…
Finite-state models of control systems were proposed by several researchers as a convenient mechanism to synthesize controllers enforcing complex specifications. Most techniques for the construction of such symbolic models have two main…
Optimal control of closed quantum systems is a well studied geometrically elegant set of computational theory and techniques that have proven pivotal in the implementation and understanding of quantum computers. The design of a circuit…
A folded chain, with one end fixed at the ceiling and the other end released from the same elevation, is commonly modeled as an energy-conserving system in one-dimension. However, the analytical paradigms in previous literature is…
The admissible positional control problem for the canonical system with geometrical restrictions on the control is considered. The investigation is performed with the help of the controllability function method. We obtain controllability…
In this paper, problems of optimal control are considered where in the objective function, in addition to the control cost there is a tracking term that measures the distance to a desired stationary state. The tracking term is given by some…
This work addresses a fundamental problem of controllability of open quantum systems, meaning the ability to steer arbitrary initial system density matrix into any final density matrix. We show that under certain general conditions open…
Controlling the shapes of surfaces provides a novel way to direct self-assembly of colloidal particles on those surfaces and may be useful for material design. This motivates the investigation of an optimal control problem for surface shape…
In this paper, the controllability and observability of linear multi-agent systems over matrix-weighted signed networks are analyzed. Firstly, the definition of equitable partition of matrix-weighted signed multi-agent system is given, and…
This paper studies the controllability of networked multi-input-multi-output (MIMO) systems, in which the network topology is weighted and directed, and the nodes are heterogeneous higher-dimensional linear time-invariant (LTI) dynamical…
We make two remarks about the null-controllability of the heat equation with Dirichlet condition in unbounded domains. Firstly, we give a geometric necessary condition (for interior null-controllability in the Euclidean setting)which…