相关论文: Forcing the escape: Partial control of escaping or…

Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…

Motion planning in high-dimensional space is a challenging task. In order to perform dexterous manipulation in an unstructured environment, a robot with many degrees of freedom is usually necessary, which also complicates its motion…

Consider a dynamical system given by a planar differential equation, which exhibits an unstable periodic orbit surrounding a stable periodic orbit. It is known that under random perturbations, the distribution of locations where the…

We consider optimal control problems for partial differential equations where the controls take binary values but vary over the time horizon, they can thus be seen as dynamic switches. The switching patterns may be subject to combinatorial…

We present an efficient method for fast, complete, and accurate detection of unstable periodic orbits in chaotic systems. Our method consists of a new iterative scheme and an effective technique for selecting initial points. The iterative…

Previous studies have shown that rate-induced transitions can occur in pullback attractors of systems subject to "parameter shifts" between two asymptotically steady values of a system parameter. For cases where the attractors limit to…

Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. Several algorithms have been proposed for obstacle avoidance, having drawbacks and benefits.…

We consider the noise-induced transitions in the randomly perturbed discrete logistic map from a linearly stable periodic orbit consisting of T periodic points. The traditional large deviation theory and asymptotic analysis for small noise…

Orbit determination is possible for a chaotic orbit of a dynamical system, given a finite set of observations, provided the initial conditions are at the central time. In a simple discrete model, the standard map, we tackle the problem of…

For controlling periodic orbits with delayed feedback methods the periodicity has to be known a priori. We propose a simple scheme, how to detect the period of orbits from properties of the control signal, at least if a periodic but…

In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…

Noise-assisted transport in quantum systems occurs when quantum time-evolution and decoherence conspire to produce a transport efficiency that is higher than what would be seen in either the purely quantum or purely classical cases. In…

In this paper, we consider the general problem of obstacle avoidance based on dynamical system. The modulation matrix is developed by introducing orthogonal coordinates, which makes the modulation matrix more reasonable. The new…

Control schemes for autonomous systems are often designed in a way that anticipates the worst case in any situation. At runtime, however, there could exist opportunities to leverage the characteristics of specific environment and operation…

We uncover and characterize different chaotic transport scenarios on perfect periodic surfaces by controlling the chaotic dynamics of particles subjected to periodic external forces in the absence of a ratchet effect. After identifying…

The pursuit-evasion problem is widespread in nature, engineering, and societal applications. It is commonly observed in nature that predators often exhibit faster speeds than their prey but have less agile maneuverability. Over millions of…

In this work, we demonstrate the open-loop control of chaotic systems by means of optimized periodic signals. The use of such signals enables us to reduce control power significantly in comparison to simple harmonic perturbations. It is…

We evoke the idea of representation of the chaotic attractor by the set of unstable periodic orbits and disclose a novel noise-induced ordering phenomenon. For long unstable periodic orbits forming the strange attractor the weights (or…

We study a chaotic quantum transport in the presence of a weak spin-orbit interaction. Our theory covers the whole symmetry crossover regime between time-reversal invariant systems with and without a spin-orbit interaction. This situation…

Analysis of the PPF chaos control method used in biological experiments shows that it can robustly control a wider class of systems than previously believed, including those without stable manifolds. This can be exploited to find the…