相关论文: Singular Zone in Quadrotor Yaw-Position Feedback L…

The attitude control of a quadrotor is a fundamental problem, which has a pivotal role in a quadrotor stabilization and control. What makes this problem more challenging is the presence of uncertainty such as unmodelled dynamics and unknown…

This paper presents a scheme to design a tracking controller for a class of uncertain nonlinear systems using a robust feedback linearization approach. The scheme is composed of two steps. In the first step, a linearized uncertainty model…

Feedback optimization enables autonomous optimality seeking of a dynamical system through its closed-loop interconnection with iterative optimization algorithms. Among various iteration structures, model-based approaches require the…

In recent times, reinforcement learning has produced baffling results when it comes to performing control tasks with highly non-linear systems. The impressive results always outweigh the potential vulnerabilities or uncertainties associated…

We develop the quantum inverse scattering method for the one-dimensional Hubbard model on the infinite interval at zero density. $R$-matrix and monodromy matrix are obtained as limits from their known counterparts on the finite interval.…

Consider the saturated complex double integrator, i.e., the linear control system $\dot x=Ax+B\sigma(u)$, where $x\in\R^4$, $u\in\R$, $B\in\R^4$, the $4\times 4$ matrix $A$ is not diagolizable and admits a non zero purely imaginary…

We consider scalar-input control systems in the vicinity of an equilibrium, at which the linearized systems are not controllable. For finite dimensional control systems, the authors recently classified the possible quadratic behaviors.…

In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…

Flying multiple quadrotors in close proximity presents a significant challenge due to complex aerodynamic interactions, particularly downwash effects that are known to destabilize vehicles and degrade performance. Traditionally,…

Numerical and experimental realizations of quantum control are closely connected to the properties of the mapping from the control to the unitary propagator. For bilinear quantum control problems, no general results are available to fully…

This paper presents a method to recover quadrotor UAV from a throw, when no control parameters are known before the throw. We leverage the availability of high-frequency rotor speed feedback available in racing drone hardware and software…

Quadrotor stabilizing controllers often require careful, model-specific tuning for safe operation. We use reinforcement learning to train policies in simulation that transfer remarkably well to multiple different physical quadrotors. Our…

This paper introduces the notion of upper-linearizable/quadratizable functions, a class that extends concavity and DR-submodularity in various settings, including monotone and non-monotone cases over different convex sets. A general…

Recent development of contraction theory based analysis of singularly perturbed system has opened the door for inspecting differential behavior of multi time-scale systems. In this paper a contraction theory based framework is proposed for…

In this paper, we introduce an angle notion called the singular angle for nonlinear systems from an input-output perspective. The proposed system singular angle, based on the angle between $L_2$-signals, describes an upper bound for the…

Non-Hermitian systems characterized by suitable spatial distributions of gain and loss can exhibit "spectral singularities" in the form of zero-width resonances associated to real-frequency poles in the scattering operator. Here, we study…

In this paper, we apply a Lyapunov functional approach to Lotka-Volterra systems with infinite delays and feedback controls and establish that the feedback controls have no influence on the attractivity properties of a saturated…

Humans are remarkably data-efficient when adapting to new unseen conditions, like driving a new car. In contrast, modern robotic control systems, like neural network policies trained using Reinforcement Learning (RL), are highly specialized…

The paper develops a singularity-free backstepping-based adaptive control for stabilizing and tracking the trajectory of a bicopter system. In the bicopter system, the inertial parameters parameterize the input map. Since the classical…

In this paper, the notion of robust strict QSR-dissipativity is applied to solve the static output feedback control problem for a class of continuous-time nonlinear rational systems subject to input saturation and bounded parametric…