相关论文: On the Optimal Control of Impulsive Hybrid Systems…

In this contribution we present how to obtain explicit state space models in port-Hamiltonian form when a mixed finite element method is applied to a linear mechanical system with non-uniform boundary conditions. The key is to express the…

We study a matrix product state (MPS) algorithm to approximate excited states of translationally invariant quantum spin systems with periodic boundary conditions. By means of a momentum eigenstate ansatz generalizing the one of \"Ostlund…

The direct parametrisation method for invariant manifolds is adjusted to consider a varying parameter. More specifically, the case of systems experiencing a Hopf bifurcation in the parameter range of interest are investigated, and the…

A probabilistic framework is proposed for the optimization of efficient switched control strategies for physical systems dominated by stochastic excitation. In this framework, the equation for the state trajectory is replaced with an…

Hybrid quantum systems with different particle species are fundamental in quantum materials and quantum information science. In this work, we establish a rigorous theoretical framework proving that, given access to an unknown spin-boson…

For many physical systems the transition from a stationary solution to sustained small amplitude oscillations corresponds to a Hopf bifurcation. For systems involving impacts, thresholds, switches, or other abrupt events, however, this…

This paper proposes a robust control method based on sliding mode design for two-level quantum systems with bounded uncertainties. An eigenstate of the two-level quantum system is identified as a sliding mode. The objective is to design a…

In dynamical systems theory, a fixed point of the dynamics is called nonhyperbolic if the linearization of the system around the fixed point has at least one eigenvalue with zero real part. The center manifold existence theorem guarantees…

This article aims to provide an accessible, tutorial-style introduction to hybrid extremum-seeking systems, which are model-free, feedback-optimization controllers that incorporate hybrid dynamics, meaning both continuous-time and…

In this letter we study variational obstacle avoidance problems on complete Riemannian manifolds. The problem consists of minimizing an energy functional depending on the velocity, covariant acceleration and a repulsive potential function…

This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…

This paper is concerned with a discounted optimal control problem of partially observed forward-backward stochastic systems with jumps on infinite horizon. The control domain is convex and a kind of infinite horizon observation equation is…

Gradient descent with momentum has been widely applied in various signal processing and machine learning tasks, demonstrating a notable empirical advantage over standard gradient descent. However, momentum-based distributed Riemannian…

Nonholonomic systems are, so to speak, mechanical systems with a prescribed restriction on the velocities. A virtual nonholonomic constraint is a controlled invariant distribution associated with an affine connection mechanical control…

With intelligent room-side sensing and service robots widely deployed, human motion prediction (HMP) is essential for safe, proactive assistance. However, many existing HMP methods either produce a single, deterministic forecast that…

We describe a generalization of the Hierarchical Dirichlet Process Hidden Markov Model (HDP-HMM) which is able to encode prior information that state transitions are more likely between "nearby" states. This is accomplished by defining a…

In many robot control problems, factors such as stiffness and damping matrices and manipulability ellipsoids are naturally represented as symmetric positive definite (SPD) matrices, which capture the specific geometric characteristics of…

An adequate characterization of the dynamics of Hamiltonian systems at physically relevant scales has been largely lacking. Here we investigate this fundamental problem and we show that the finite-scale Hamiltonian dynamics is governed by…

While decoupled control schemes for legged mobile manipulators have shown robustness, learning holistic whole-body control policies for tracking global end-effector poses remains fragile against Out-of-Distribution (OOD) inputs induced by…

Sensitivity analysis of multibody systems computes the derivatives of general cost functions that depend on the system solution with respect to parameters or initial conditions. This work develops adjoint sensitivity analysis for hybrid…