相关论文: A Fibonacci control system with application to hyp…
This paper develops a data-driven learning framework for approximating the feasible region and invariant set of a nonlinear system under the nonlinear Model Predictive Control (MPC) scheme. The developed approach is based on the feasibility…
In this paper we propose a data-driven distributionally robust Model Predictive Control framework for constrained stochastic systems with unbounded additive disturbances. Recursive feasibility is ensured by optimizing over an linearly…
We consider (discrete time) branching particles in a random environment which is i.i.d. in time and possibly spatially correlated. We prove a representation of the limit process by means of a Brownian snake in random environment.
The local controllability of a rich class of affine nonlinear control systems with nonhomogeneous quadratic drift and constant control vector fields is analyzed. The interest in this particular class of systems stems from the ubiquity in…
This paper investigates the controllability of a broad class of recurrent neural networks widely used in theoretical neuroscience, including models of large-scale human brain dynamics. Motivated by emerging applications in non-invasive…
Snake robots have the potential to maneuver through tightly packed and complex environments. One challenge in enabling them to do so is the complexity in determining how to coordinate their many degrees-of-freedom to create purposeful…
This article investigates the approximate controllability of second order non-autonomous functional evolution equations involving non-instantaneous impulses and nonlocal conditions. First, we discuss the approximate controllability of…
Studying snake robot locomotion in a cluttered environment has been a complicated task because the motion model is discontinuous due to the physical contact with obstacles, and the contact force cannot be determined solely by contact…
Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the contact dynamics. Additionally, in a manipulation task like…
In this paper, we address the problem of controlling a system over an unreliable connection that is affected by time-varying delays and randomly occurring packet losses. A novel sequence-based approach is proposed that extends a given…
It is known that if a nonlinear control affine system without drift is bracket generating, then its associated sub-Laplacian is invertible under some conditions on the domain. In this note, we investigate the converse. We show how…
In this paper, a sampling-based Stochastic Model Predictive Control algorithm is proposed for discrete-time linear systems subject to both parametric uncertainties and additive disturbances. One of the main drivers for the development of…
This work concerns the application of physics-informed neural networks to the modeling and control of complex robotic systems. Achieving this goal required extending Physics Informed Neural Networks to handle non-conservative effects. We…
Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…
Snakes are a remarkable evolutionary success story. Many snake-inspired robots have been proposed over the years. Soft robotic snakes (SRS) with their continuous and smooth bending capability better mimic their biological counterparts'…
This paper addresses a fundamental and important question in control: under what conditions does there fail to exist a robust control policy that keeps the state of a constrained linear system within a target set, despite bounded…
Soft robots, compared to regular rigid robots, as their multiple segments with soft materials bring flexibility and compliance, have the advantages of safe interaction and dexterous operation in the environment. However, due to its…
Inspired by the dynamic coupling of moto-neurons and physical elasticity in animals, this work explores the possibility of generating locomotion gaits by utilizing physical oscillations in a soft snake by means of a low-level spiking neural…
A prototype of modular networked robot for autonomous monitoring works with full control over web through wireless connection has been developed. The robot is equipped with a particular set of built-in analyzing tools and appropriate…
In this paper we extend the results on controllability of linear systems obtained in "Controllability of linear systems on solvable Lie groups", from solvable Lie groups to Lie groups with finite semisimple center.