Related papers: Minimal Actuator Selection
The present work addresses a finite-horizon linear-quadratic optimal control problem for uncertain systems driven by piecewise constant controls. The precise values of the system parameters are unknown, but assumed to belong to a finite set…
The paper continues the authors' study of the linearizability problem for nonlinear control systems. In the recent work [K. Sklyar, Systems Control Lett. 134 (2019), 104572], conditions on mappability of a nonlinear control system to a…
Several problems in modeling and control of stochastically-driven dynamical systems can be cast as regularized semi-definite programs. We examine two such representative problems and show that they can be formulated in a similar manner. The…
This note investigates how to design topology structures to ensure the controllability of multi-agent networks (MASs) under any selection of leaders. We put forward a concept of perfect controllability, which means that a multi-agent system…
This paper investigates the robust output regulation problem for an uncertain linear minimum-phase plant with cooperative parallel operation of multiple actuators. Building on the internal model approach, we first propose a dynamic output…
The first part of this paper is devoted to introducing an approach to compute the approximate minimum time function of control problems which is based on reachable set approximation and uses arithmetic operations for convex compact sets. In…
This paper solves the sparsest feedback selection problem for linear time invariant structured systems, a long-standing open problem in structured systems. We consider structurally cyclic systems with dedicated inputs and outputs. We prove…
In this paper, we present a method to initialize at a feasible point and unfailingly solve a non-convex optimization problem in which a set-point motion is planned for a multi-link manipulator under state and control constraints. We…
Consider a finite ground set $E$, a set of feasible solutions $X \subseteq \mathbb{R}^{E}$, and a class of objective functions $\mathcal{C}$ defined on $X$. We are interested in subsets $S$ of $E$ that control $X$ in the sense that we can…
We propose the {\alpha}-suboptimal covering number to characterize multi-task control problems where the set of dynamical systems and/or cost functions is infinite, analogous to the cardinality of finite task sets. This notion may help…
A popular approach in combinatorial optimization is to model problems as integer linear programs. Ideally, the relaxed linear program would have only integer solutions, which happens for instance when the constraint matrix is totally…
A minimum dominating set in a graph is a minimum set of vertices such that every vertex of the graph either belongs to it, or is adjacent to one vertex of this set. This mathematical object is of high relevance in a number of applications…
This paper is devoted to the controllability analysis of a class of linear control systems in a Hilbert space. It is proposed to use the minimum energy controls of a reduced lumped parameter system for solving the infinite dimensional…
This paper studies the control problem for safety-critical multi-agent systems based on quadratic programming (QP). Each controlled agent is modeled as a cascade connection of an integrator and an uncertain nonlinear actuation system. In…
We consider optimal control problems involving two constraint sets: one comprised of linear ordinary differential equations with the initial and terminal states specified and the other defined by the control variables constrained by simple…
This paper considers a constrained discrete-time linear system subject to actuation attacks. The attacks are modelled as false data injections to the system, such that the total input (control input plus injection) satisfies hard input…
In this note, we consider the problem of choosing which nodes of a linear dynamical system should be actuated so that the state transfer from the system's initial condition to a given final state is possible. Assuming a standard complexity…
This paper presents a new approach to solve linear and nonlinear model predictive control (MPC) problems that requires small memory footprint and throughput and is particularly suitable when the model and/or controller parameters change at…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
Modeling multiphysics processes in porous media requires preconditioned iterative linear solvers to enable efficient simulations at industry-relevant scales. These solvers are typically composed of sub-algorithms that target individual…