相关论文: Synergistic Potential Functions from Single Modifi…
We review how some multianalytic inner functions of the Beurling type theorem are associated to row contractions following works of G.Popescu. Motivated by a result on weak Markov dilations, we define a notion of characteristic function for…
Predictive safety filters enable the integration of potentially unsafe learning-based control approaches and humans into safety-critical systems. In addition to simple constraint satisfaction, many control problems involve additional…
Until recently, it was an important open problem in Fractal Geometry to determine whether there exists an iterated function system acting on $\mathbb{R}$ with no exact overlaps for which cylinders are super-exponentially close at all small…
In this work, transverse shear warping functions for an equivalent single layer plate model are formulated from a variational approach. The part of the strain energy which involves the shear phenomenon is expressed in function of the…
Modern robotic systems are required to operate in dense dynamic environments, requiring highly accurate real-time track identification and estimation. For 3D multi-object tracking, recent approaches process a single measurement frame…
This paper employs correct-by-construction control synthesis, in particular controlled invariant set computations, for falsification. Our hypothesis is that if it is possible to compute a "large enough" controlled invariant set either for…
This paper investigates the structural functional observability (SFO) and structural output controllability (SOC) of a class of systems with generically diagonalizable state matrices and explores the associated minimal sensor and actuator…
It is shown that there exist a finite number of indicator functions, which allow us to track an arbitrary given trajectory of the Schl\"ogl model, by means of an explicit saturated feedback control input whose magnitude is bounded by a…
Dynamical systems can be coupled in a manner that is designed to drive the resulting dynamics onto a specified lower dimensional submanifold in the phase space of the combined system. On the submanifold, the variables of the two systems…
Tail recursive functions allow for a wider range of optimisations than general recursive functions. For this reason, much research has gone into the transformation and optimisation of this family of functions, in particular those written in…
This paper addresses the prescribed performance control (PPC) challenge for high-order nonlinear systems affected by mismatched disturbances. The research aims to prevent singularity issues arising from error boundary violations during…
This paper proposes an output feedback controller capable of ensuring steady-state offset-free tracking for ramp and sinusoidal reference signals while ensuring local stability and state and input constraints fulfillment. The proposed…
Rigidity of the interaction graph is a fundamental condition for achieving the desired formation which can be defined in terms of distance or bearing constraints between agents. In this paper, for reaching a unique formation with the same…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
Improving the predictive accuracy of a dynamics model is crucial to obtaining good control performance and safety from Model Predictive Controllers (MPC). One approach involves learning unmodelled (residual) dynamics, in addition to nominal…
Distance functions between points in a domain are sometimes used to automatically plan a gradient-descent path towards a given target point in the domain, avoiding obstacles that may be present. A key requirement from such distance…
This paper presents conditions for ensuring forward invariance of safe sets under sampled-data system dynamics with piecewise-constant controllers and fixed time-steps. First, we introduce two different metrics to compare the…
In this work, we report the enhanced stability of induced synchronization observed through transient uncoupling in a class of unidirectionally coupled identical chaotic systems. The phenomenon of transient uncoupling implies the clipping of…
The formalism developed in Refs.\cite{Guo:2023ecc,Guo:2024zal} that connects integrated correlation function of a trapped two-particle system to infinite volume scattering phase shift is further extended to coupled-channel systems in the…
Model Predictive Control (MPC) offers a versatile framework for constraint handling and multi-objective optimisation, yet practical application faces challenges regarding initial and recursive feasibility, robustness against model…