相关论文: The invariant manifold approach applied to nonline…
This paper addresses the problem of online inverse reinforcement learning for nonlinear systems with modeling uncertainties while in the presence of unknown disturbances. The developed approach observes state and input trajectories for an…
This paper presents a novel non-linear model reduction method: Probabilistic Manifold Decomposition (PMD), which provides a powerful framework for constructing non-intrusive reduced-order models (ROMs) by embedding a high-dimensional system…
We establish a variational framework for nonlinear instabilities in a setting of the ideal magnetohydrodynamic (MHD) equations. We apply a variational method to various kind of smooth steady states which are shown to be nonlinearly unstable…
We present the applications of variational--wavelet approach to nonlinear (rational) model for spin-orbital motion: orbital dynamics and Thomas-BMT equations for classical spin vector. We represent the solution of this dynamical system in…
In various applications in the field of control engineering the estimation of the state variables of dynamic systems in the presence of unknown inputs plays an important role. Existing methods require the so-called observer matching…
Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provides advantages for aerial manipulation. However, this…
Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…
In this paper, we introduce and study a class of resolvent dynamical systems to investigate some inertial proximal methods for solving mixed variational inequalities. These proposed methods along with their discretizations and derived rates…
Improving robustness to uncertainty and rejection of external disturbances represents a significant challenge in aerial robotics. Nonlinear controllers based on Incremental Nonlinear Dynamic Inversion (INDI), known for their ability in…
A shortcoming of existing reachability approaches for nonlinear systems is the poor scalability with the number of continuous state variables. To mitigate this problem we present a simulation-based approach where we first sample a number of…
This paper presents a class of efficient manifold optimization algorithms for computing the ground state solutions of a semilinear elliptic system, which are unstable saddle points of the variational functional. Variational arguments show…
The problem of inverting a system in presence of a series-defined output is analyzed. Inverse models are derived that consist of a set of algebraic equations. The inversion is performed explicitly for an output trajectory functional, which…
Invariant measures encode the long-time behaviour of a dynamical system. In this work, we propose an optimization-based method to discover invariant measures directly from data gathered from a system. Our method does not require an explicit…
In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight…
The dynamic mode decomposition (DMD) is a data-driven method used for identifying the dynamics of complex nonlinear systems. It extracts important characteristics of the underlying dynamics using measured time-domain data produced either by…
The problem of estimating the angular speed of a solid body from attitude measurements is addressed. To solve this problem, we propose an observer whose dynamics are not constrained to evolve on any specific manifold. This drastically…
We introduce an invariant linked to some foundational questions in geometric measure theory and provide bounds on this invariant by decomposing an arbitrary cycle into uniformly rectifiable pieces. Our invariant measures the difficulty of…
Considering trajectory curves, integral of n-dimensional dynamical systems, within the framework of Differential Geometry as curves in Euclidean n-space, it will be established in this article that the curvature of the flow, i.e. the…
The paper considers a motion control problem for kinematic models of nonholonomic wheeled systems. The class of maneuverable wheeled systems is defined consisting of systems that can follow any sufficiently smooth non-stop trajectory on the…
This article proposes a method for forming invariant stochastic differential systems, namely dynamic systems with trajectories belonging to a given smooth manifold. The It\^o or Stratonovich stochastic differential equations with the Wiener…