Related papers: Restricted feedback control of one-dimensional map…
In this paper, we develop a unified framework for studying constrained robust optimal control problems with adjustable uncertainty sets. In contrast to standard constrained robust optimal control problems with known uncertainty sets, we…
In this paper we present a reformulation--framed as a constrained optimization problem--of multi-robot tasks which are encoded through a cost function that is to be minimized. The advantages of this approach are multiple. The…
Stability and control of a non-linear system represent an important system configuration that frequently arises in practical engineering. Stability covers a vast range of systems that do not obey the superposition principle and applies to…
This paper considers the problem of regulating a dynamical system to equilibria that are defined as solutions of an input- and state-constrained optimization problem. To solve this regulation task, we design a state feedback controller…
Inspired by spiking neural feedback, we propose a spiking controller for efficient locomotion in a soft robotic crawler. Its bistability, akin to neural fast positive feedback, combined with a sensorimotor slow negative feedback loop,…
Control strategy for suppression of spiral-wave in a 2-D model of an excitable media is developed with application to the cardiac system. The controller which incorporates a finite number of actuators (electrodes) assures the establishment…
Despite rapid evolution, embedded computing systems increasingly feature resource constraints and workload uncertainties. To achieve much better system performance in unpredictable environments than traditional design approaches, a novel…
In this paper we study how to shape temporal pulses to switch a bistable system between its stable steady states. Our motivation for pulse-based control comes from applications in synthetic biology, where it is generally difficult to…
This paper presents a novel methodology to develop scheduling algorithms. The scheduling problem is phrased as a control problem, and control-theoretical techniques are used to design a scheduling algorithm that meets specific requirements.…
We consider the problem of output feedback controller sparsification for systems with parametric uncertainties. We develop an optimization scheme that minimizes the performance deterioration caused by the sparsification process, while…
This paper studies static output feedback stabilization of continuous-time (incrementally) passive nonlinear systems where the control actions can only be chosen from a discrete (and possibly finite) set of points. For this purpose, we are…
Robust control problems have significant practical implications since external disturbances can significantly impact the performance of control methods. Existing robust control methods excel at control-affine systems but fail at neural…
This article describes a numerical procedure designed to tune the parameters of periodically-driven dynamical systems to a state in which they exhibit rich dynamical behavior. This is achieved by maximizing the diversity of subharmonic…
Control of underactuated dynamical systems has been studied for decades in robotics, and is now emerging in other fields such as neuroscience. Most of the advances have been in model based control theory, which has limitations when the…
Control of multistable dynamical system has important applications, from physics to biology. Here, we attack this problem from the perspective of local sensitivity analysis. We develop sensitivity rules to control properties of…
For linear time-invariant systems, input-state data collected during an open-loop experiment can remedy the lack of knowledge of system parameters. However, such data do not contain information about other system uncertainties such as…
We study a control system resembling a singularly perturbed system whose variables are decomposed into groups that change their values with rates of different orders of magnitude. We establish that the slow trajectories of this system are…
Arrhythmias are potentially fatal disruptions to the normal heart rhythm, but their underlying dynamics is still poorly understood. Theoretical modeling is an important tool to fill this gap. Typical studies often employ detailed…
We present a new type of feedback linearization that is tailored for mechanical control systems. We call it a mechanical feedback linearization. Its basic feature is preservation of the mechanical structure of the system. For mechanical…
The present paper studies a feedback regulation problem, which may be interpreted as an adaptive control problem, but has not yet been studied in the control literature. The problem, which arises in at least two different biological…