Related papers: Matching, linear systems, and the ball and beam
The key challenges in design of predictor-based control laws for switched systems with arbitrary switching and long input delay are the potential unavailability of the future values of the switching signal (at current time) and the fact…
This paper proposes a new framework and several results to quantify the performance of data-driven state-feedback controllers for linear systems against targeted perturbations of the training data. We focus on the case where subsets of the…
A novel, model free, approach to experimental closed-loop flow control is implemented on a separated flow. Feedback control laws are generated using genetic programming where they are optimized using replication, mutation and cross-over of…
In this Letter, we derive a sufficient condition of synchronizing limit sets (attractors and repellers) by using the linear feedback control technique proposed here. There examples are included. The numerical simulations and computer…
Positive systems naturally arise in situations where the model tracks physical quantities. Although the linear case is well understood, analysis and controller design for nonlinear positive systems remain challenging. Model reduction…
Late-lumping feedback design for infinite-dimensional linear systems with unbounded input operators is considered. The proposed scheme is suitable for the approximation of backstepping and flatness-based designs and relies on a…
Synchronization control of coupled continuous-time linear systems is studied. For identical systems that are stabilizable, a linear feedback law obtained via algebraic Riccati equation is shown to synchronize any fixed directed network of…
Problem of damping of an arbitrary number of linear oscillators under common bounded control is considered. We are looking for a feedback control steering the system to the equilibrium. The obtained control is asymptotically optimal: the…
This paper is devoted to the study of the null and approximate controllability for some classes of linear coupled parabolic systems with less controls than equations. More precisely, for a given bounded domain in R^N, we consider a system…
We present a novel class of minimax optimal control problems with positive dynamics, linear objective function and homogeneous constraints. The proposed problem class can be analyzed with dynamic programming and an explicit solution to the…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
Amorphous particulate matter constitutes a wide range of natural and synthetic materials. Despite this ubiquity, the way in which these systems' disordered microstructure couples to their often subtle and complex dynamical behavior is not…
This article deals with the implementation of the Smith Predictor for state feedback control in state space representation. The desired control law, obtained using partial differential equations and backstepping control, contains an…
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…
We consider adaptive control problem in presence of nonlinear parametrization of uncertainties in the model. It is shown that despite traditional approaches require for domination in the control loop during adaptation, it is not often…
Conditions are established under which the optimal control of processes having both absolutely continuous and singular (with respect to time) controls are equivalent to linear programs over a space of measures on the state and control…
In this paper we study the problem of computing minimum-energy controls for linear systems from experimental data. The design of open-loop minimum-energy control inputs to steer a linear system between two different states in finite time is…
In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
This paper considers real-time control and learning problems for finite-dimensional linear systems under binary-valued and randomly disturbed output observations. This has long been regarded as an open problem because the exact values of…