相关论文: Rank Conditions for Observability and Controllabil…
The aim of this work is to control the longitudinal position of an autonomous vehicle with an internal combustion engine. The powertrain has an inherent dead-time characteristic and constraints on physical states apply since the vehicle is…
This paper generalizes recent results by the authors on noninvasive model-reference adaptive control designs for control-based continuation of periodic orbits in periodically excited linear systems with matched uncertainties to a larger…
For networked systems, the control law is typically subject to network flaws such as delays and packet dropouts. Hence, the time in between updates of the control law varies unexpectedly. Here, we present a stability theorem for nonlinear…
Trajectory tracking of nonlinear dynamical systems with affine open-loop controls is investigated. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible. We introduce exactly…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
Humans are often incapable of precisely identifying and implementing the desired control strategy in controlling unstable dynamical systems. That is, the operator of a dynamical system treats the current control effort as acceptable even if…
Analyzing data from dynamical systems often begins with creating a reconstruction of the trajectory based on one or more variables, but not all variables are suitable for reconstructing the trajectory. The concept of nonlinear observability…
This paper examines the local exponential stability (LES) of trajectories for nonlinear systems on Riemannian manifolds. We present necessary and sufficient conditions for LES of a trajectory on a Riemannian manifold by analyzing the…
We will study the controllability problem of a bilinear control system on $\mathbb{R}^2:$ the main result is the characterization of the Lie algebra rank condition for the system. On the other hand, using elementary techniques, we recover…
Although the explicit commutativitiy conditions for second-order linear time-varying systems have been appeared in some literature, these are all for initially relaxed systems. This paper presents explicit necessary and sufficient…
This paper is devoted to the study of controllability of linear systems on generalized Heisenberg groups. Some general necessary controllability conditions and some sufficient ones are provided. We introduce the notion of decoupled systems,…
This paper discusses the stabilizability, weak stabilizability, exact observability and robust quadratic stabilizability of linear stochastic control systems. By means of the spectrum technique of the generalized Lyapunov operator, a…
Controllability and observability energy functions play a fundamental role in model order reduction and are inherently connected to optimal control problems. For linear dynamical systems the energy functions are known to be quadratic…
This paper studies the observability radius of network systems, which measures the robustness of a network to perturbations of the edges. We consider linear networks, where the dynamics are described by a weighted adjacency matrix, and…
In the article$^a$, the authors introduced a time-varying Lyapunov function for the stability analysis of nonlinear systems whose motion is governed by standard Newton-Euler equations. The authors established asymptotic stability with the…
In this paper, we consider partially observable timed automata endowed with a single clock. A time interval is associated with each transition specifying at which clock values it may occur. In addition, a resetting condition associated to a…
In this paper we study reachability verification problems of stochastic discrete-time dynamical systems over the infinite time horizon. The reachability verification of interest in this paper is to certify specified lower and upper bounds…
This paper is devoted to the controllability of linear systems of two coupled parabolic equations when the coupling involves a space dependent first order term. This system is set on an bounded interval, and the first equation is controlled…
Controllability -- the possibility of performing any target dynamics by applying a set of available operations -- is a fundamental requirement for the practical use of any physical system. For finite-dimensional systems, as for instance…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…