Related papers: Finite-Step Invariant Sets for Hybrid Systems with…
An algorithm for robust initial orbit determination (IOD) under perturbed orbital dynamics is presented. By leveraging map inversion techniques defined in the algebra of Taylor polynomials, this tool returns a highly accurate solution to…
We present a systematic methodology to determine and locate analytically isolated periodic points of discrete and continuous dynamical systems with algebraic nature. We apply this method to a wide range of examples, including a…
We propose a novel method applied to extrasolar planetary dynamics to describe the system stability. The observations in this field serve the measurements mainly of radial velocity, transit time, and/or celestial position. These scalar time…
In this paper we present Hybrid iterative Linear Quadratic Estimation (HiLQE), an optimization based offline state estimation algorithm for hybrid dynamical systems. We utilize the saltation matrix, a first order approximation of the…
This article establishes the foundation for a new theory of invariant/integral manifolds for non-autonomous dynamical systems. Current rigorous support for dimensional reduction modelling of slow-fast systems is limited by the rare events…
In this paper, a method to construct topological template in terms of symbolic dynamics for the diamagnetic Kepler problem is proposed. To confirm the topological template, rotation numbers of invariant manifolds around unstable periodic…
Experiments observing the liquid surface in a vertically oscillating container have indicated that modeling the dynamics of such systems require maps that admit states at infinity. In this paper we investigate the bifurcations in such a…
Estimation of nonlinear dynamic models from data poses many challenges, including model instability and non-convexity of long-term simulation fidelity. Recently Lagrangian relaxation has been proposed as a method to approximate simulation…
Periodic orbits of systems of ordinary differential equations can be found and continued numerically by following fixed points of Poincar\'e maps. However, this often fails near grazing bifurcations where a periodic orbit collides…
We present a data-driven optimal control framework that can be viewed as a generalization of the path integral (PI) control approach. We find iterative feedback control laws without parameterization based on probabilistic representation of…
We present a method to construct high-order polynomial approximate invariants (AI) for non-integrable Hamiltonian dynamical systems, and apply it to modern ring-based particle accelerators. Taking advantage of a special property of one-turn…
We consider stochastic variational inequality problems where the mapping is monotone over a compact convex set. We present two robust variants of stochastic extragradient algorithms for solving such problems. Of these, the first scheme…
This note considers the maximal positively invariant set for polynomial discrete time dynamics subject to constraints specified by a basic semialgebraic set. The note utilizes a relatively direct, but apparently overlooked, fact stating…
Robust motion planning entails computing a global motion plan that is safe under all possible uncertainty realizations, be it in the system dynamics, the robot's initial position, or with respect to external disturbances. Current approaches…
We study an interplay between delay and discontinuous hysteresis in dynamical systems. After having established existence and uniqueness of solutions, we focus on the analysis of stability of periodic solutions. The main object we study is…
Optimal control for switch-based dynamical systems is a challenging problem in the process control literature. In this study, we model these systems as hybrid dynamical systems with finite number of unknown switching points and reformulate…
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…
Robust POMDPs extend classical POMDPs to incorporate model uncertainty using so-called uncertainty sets on the transition and observation functions, effectively defining ranges of probabilities. Policies for robust POMDPs must be (1)…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
The goal of this paper is to present a systematic method to compute reference dependent positively invariant sets for systems subject to constraints. To this end, we first characterize these sets as level sets of reference dependent…