相关论文: Controllability of Spacecraft Using Only Magnetic …

We present a method of control which is able to create barriers to magnetic field line diffusion by a small modification of the magnetic perturbation. This method of control is based on a localized control of chaos in Hamiltonian systems.…

This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to…

Robot manipulators are often tasked with working in environments with vibrations and are subject to load uncertainty. Providing an accurate tracking control design with implementable torque input for these robots is a complex topic. This…

To study potential limitations of controllability of physical systems I have earlier proposed physically universal cellular automata and Hamiltonians. These are translation invariant interactions for which any control operation on a finite…

In this paper, a polynomial chaos based framework for designing controllers for discrete time linear systems with probabilistic parameters is presented. Conditions for exponential-mean-square stability for such systems are derived and…

This paper considers the controllability analysis and fault tolerant control problem for a class of hexacopters. It is shown that the considered hexacopter is uncontrollable when one rotor fails, even though the hexacopter is over-actuated…

As in arXiv: math. 0809.2365 we consider classical system of interacting particles $\mathcal{P}_1, ..., \mathcal{P}_n$ on the line with only neighboring particles involved in interaction. On the contrast to arXiv: math. 0809.2365 now {\it…

Considering discrete-time linear time-varying systems with unknown dynamics, controllers guaranteeing bounded closed-loop trajectories, optimal performance and robustness to process and measurement noise are designed via convex feasibility…

In this paper, attitude maneuver control without unwinding phenomenon is investigated for rigid spacecraft. First, a novel switching function is constructed by a hyperbolic sine function. It is shown that the spacecraft system possesses the…

We demonstrate how electric fields with arbitrary time profile can be used to control the time-dependent parameters of spin and orbital exchange Hamiltonians. Analytic expressions for the exchange constants are derived from a time-dependent…

In this paper, we consider the problem of minimum-time optimal control for a dynamical system with initial state uncertainties and propose a sequential convex programming (SCP) solution framework. We seek to minimize the expected terminal…

In this study, we propose a varying terminal time structure for the optimal control problem under state constraints, in which the terminal time follows the varying of the control via the constrained condition. Focusing on this new optimal…

Fixed-frequency control in robotics imposes a trade-off between the efficiency of low-frequency control and the robustness of high-frequency control, a limitation not seen in adaptable biological systems. We address this with a…

In this paper we study controllability of a linear equation with persistent memory when the control belongs to $ H^k_0(0,T;L^2(\ZOMq)) $. In the case the memory is zero, our equation is reduced to the wave equation and a result due to…

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 paper studies the structural controllability of a class of uncertain switched linear systems, where the parameters of subsystems state matrices are either unknown or zero. The structural controllability is a generalization of the…

This paper addresses the controllability of a class of quasi-linear parabolic equations governed by multiplicative controls with mobile support. To prove the existence of such a control forcing the solution to rest at time $T>0$, we first…

This paper proposes a technique to manipulate an object with a nonholonomic mobile robot by pushing, which is a nonprehensile manipulation motion primitive. Such a primitive involves unilateral constraints associated with the friction…

We consider the problem of stabilizing the coherence of a single qubit subject to Markovian decoherence, via the application of a control Hamiltonian, without any additional resources. In this case neither quantum error…

We consider the problem of finite-horizon optimal control of a discrete linear time-varying system subject to a stochastic disturbance and fully observable state. The initial state of the system is drawn from a known Gaussian distribution,…