相关论文: The collision avoidance and the controllability fo…

We study possibilities to control an ensemble (a parameterized family) of nonlinear control systems by a single parameter-independent control. Proceeding by Lie algebraic methods we establish genericity of exact controllability property for…

The paper is devoted to studying the 1D viscous Burgers equation controlled by an external force. It is assumed that the initial state is essentially bounded, with no decay condition at infinity, and the control is a trigonometric…

The aim of this paper is to investigate the well-posedness of a class of boundary control and observation systems on a one dimensional spatial domain. We derive a necessary and sufficient condition characterizing the well-posedness of these…

Following the unified approach of A. Kriegl and P.W. Michor (1997) for a treatment of global analysis on a class of locally convex spaces known as convenient, we give a generalization of Rashevsky-Chow's theorem for control systems in…

We give a constructive proof of a global controllability result for an autonomous system of ODEs guided by bounded locally Lipschitz and divergence free (i.e.\ incompressible) vector field, when the phase space is the whole Euclidean space…

In this paper, we deal with the global exact controllability to the trajectories of the Boussinesq system. We consider 2D and 3D smooth bounded domains. The velocity field of the fluid must satisfy a Navier slip-with-friction boundary…

We investigate a class of higher-order nonlinear dispersive equations posed on the circle, subject to additive forcing by a finite-dimensional control. Our main objective is to establish approximate controllability by using the…

This work uses vector field inequalities (VFI) to prevent robot self-collisions and collisions with the workspace. Differently from previous approaches, the method is suitable for both velocity and torque-actuated robots. We propose a new…

We show that a bilinear control system is approximately controllable if and only if it is controllable in $\mathbb{R}^{n}\setminus\{0\}$. We approach this problem by looking at the foliation made by the orbits of the system, and by showing…

This paper is devoted to studying the null and approximate controllability of two linear coupled parabolic equations posed on a smooth domain of R^N (N>1) with coupling terms of zero and first orders and one control localized in some…

This paper is devoted to study the controllability of a one-dimensional fluid-particle interaction model where the fluid follows the viscous Burgers equation and the point mass obeys Newton's second law. We prove the null controllability…

This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…

For linear control systems with bounded control range, chain controllability properties are analyzed. It is shown that there exists a unique chain control set and that it equals the sum of the control set around the origin and the center…

For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded…

We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicle's dynamics and of its environment. Vehicle dynamics…

Infinite-dimensional linear port-Hamiltonian systems on a one-dimensional spatial domain with full boundary control and without internal damping are studied. This class of systems includes models of beams and waves as well as the transport…

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…

This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is…

In this paper we deal with the local exact controllability to a particular class of trajectories of the N-dimensional Boussinesq system with internal controls having 2 vanishing components. The main novelty of this work is that no condition…

We consider the bilinear Schroedinger equation on a bounded one-dimensional domain and we provide explicit times such that the global exact controllability is verified. In addition, we show how to construct controls for the global…