Related papers: On the Minimum Number of Control Laws for Nonlinea…
The paper puts forward sufficient conditions for local controllability of a control dynamical system. The results obtained are meaningful in the case when the linear approximation to this system is not completely controllable. As a…
This article treats three problems of sparse and optimal multiplexing a finite ensemble of linear control systems. Given an ensemble of linear control systems, multiplexing of the controllers consists of an algorithm that selects, at each…
This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art safety-enforcing methods, such as control barrier functions…
This paper deals with strong structural controllability of linear systems. In contrast to existing work, the structured systems studied in this paper have a so-called zero/nonzero/arbitrary structure, which means that some of the entries…
This paper addresses the problem of computing controllers that are correct by design for safety-critical systems and can provably satisfy (complex) functional requirements. We develop new methods for models of systems subject to both…
In this paper, three laws are obtained for multiple-input multiple-output feedback systems, which are in entropy domain, frequency domain, and time domain, respectively. The system setup is that with causal plants and causal controllers.…
We study in this paper the problem of iterative feedback gains tuning for a class of nonlinear systems. We consider Input-Output linearizable nonlinear systems with additive uncertainties. We first design a nominal Input-Output…
We examine the problem of two-point boundary optimal control of nonlinear systems over finite-horizon time periods with unknown model dynamics by employing reinforcement learning. We use techniques from singular perturbation theory to…
We provide an amendment to the first theorem of "Control Contraction Metrics: Convex and Intrinsic Criteria for Nonlinear Feedback Design" by Manchester & Slotine in the form of an additional technical condition required to show…
An effective formalism for quantum constrained systems is presented which allows manageable derivations of solutions and observables, including a treatment of physical reality conditions without requiring full knowledge of the physical…
In this work, we propose a methodology for the expression of necessary and sufficient Lyapunov-like conditions for the existence of stabilizing feedback laws. The methodology is an extension of the well-known Control Lyapunov Function (CLF)…
This paper completely solves the controllability problems of two-dimensional multi-input discrete-time bilinear systems with and without drift. Necessary and sufficient conditions for controllability, which cover the existing results, are…
Quantum control is traditionally expressed through bilinear models and their associated Lie algebra controllability criteria. But, the first order approximation are not always sufficient and higher order developpements are used in recent…
Classical conditions for ensuring the robust stability of a linear system in feedback with a sector-bounded nonlinearity include small gain, circle, passivity, and conicity theorems. In this work, we present a similar stability condition,…
Control barrier functions (CBFs) provide a rigorous framework for designing controllers enforcing safety constraints. While CBF theory is well-developed for a finite number of safety constraints, certain applications, e.g., backup CBFs,…
Safety-critical autonomous systems must satisfy hard state constraints under tight computational and sensing budgets, yet learning-based controllers are often far more complex than safe operation requires. To formalize this gap, we study…
This paper is motivated by the problem of asymptotically stabilizing invariant sets in the state space of control systems by means of output feedback. The sets considered are smooth embedded in submanifolds and the class of system is…
Second order systems whose drift is defined by the gradient of a given potential are considered, and minimization of the $L^1$-norm of the control is addressed. An analysis of the extremal flow emphasizes the role of singular trajectories…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
In a series of papers on optimal control problems for the monodomain as well as for the bidomain equations of cardiac electrophysiology, the authors studied existence of minimizers and derived first-order necessary optimality conditions.…