相关论文: On feedback classification of control-affine syste…
We study measures on $\mathbb{R}^d$ which are induced by a class of infinite and recursive iterations in symbolic dynamics. Beginning with a finite set of data, we analyze prescribed recursive iteration systems, each involving subdivisions.…
Funnel control achieves output tracking with guaranteed tracking performance for unknown systems and arbitrary reference signals. In particular, the tracking error is guaranteed to satisfy time-varying error bounds for all times (it evolves…
This paper addresses the problem of stabilization for infinite-dimensional systems. In particular, we design nonlinear stabilizers for both linear and nonlinear abstract systems. We focus on two classes of systems: the first class comprises…
This paper investigates controller identification given data from a Model Predictive Controller (MPC) with constraints. We propose an approach for learning MPC that explicitly uses the gradient information in the training process. This is…
In a paper by Willems and coauthors it was shown that persistently exciting data can be used to represent the input-output behavior of a linear system. Based on this fundamental result, we derive a parametrization of linear feedback systems…
This paper first demonstrates that applying standard incremental nonlinear dynamic inversion (INDI) with incremental control allocation (ICA) to input nonaffine systems relies on an untenable linear approximation of the actuator model. It…
We continue the analysis of modular invariant functions, subject to inhomogeneous Laplace eigenvalue equations, that were determined in terms of Poincar\'e series in a companion paper. The source term of the Laplace equation is a product of…
We develop a natural variant of Dikin's affine-scaling method, first for semidefinite programming and then for hyperbolic programming in general. We match the best complexity bounds known for interior-point methods. All previous…
For the unicycle system, we provide constructive methods for the design of feedback laws that have one or more of the following properties: being nonmodular and globally exponentially stabilizing, inverse optimal, robust to arbitrary…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
It is known that if a nonlinear control affine system without drift is bracket generating, then its associated sub-Laplacian is invertible under some conditions on the domain. In this note, we investigate the converse. We show how…
This paper is concerned with the ubiquitous inverse problem of recovering an unknown function u from finitely many measurements possibly affected by noise. In recent years, inversion methods based on linear approximation spaces were…
Robustness is a basic property of any control system. In the context of linear output regulation, it was proved that embedding an internal model of the exogenous signals is necessary and sufficient to achieve tracking of the desired…
We deal with a control-affine problem with scalar control subject to bounds, a scalar state constraint and endpoint constraints of equality type. For the numerical solution of this problem, we propose a shooting algorithm and provide a…
In this paper, we present a data-driven output feedback controller for nonlinear systems that achieves practical output regulation, using noise-free input/output measurement data. The proposed controller is based on (i) an inverse model of…
An affine iterated function system is a finite collection of affine invertible contractions and the invariant set associated to the mappings is called self-affine. In 1988, Falconer proved that, for given matrices, the Hausdorff dimension…
The well-known theory of "rational canonical form of an operator" describes the invariant factors, or elementary divisors, as a complete set of invariants of a similarity class of an operator on a finite-dimensional vector space $\V$ over a…
The invariant classification of superintegrable systems is reviewed and utilized to construct singular limits between the systems. It is shown, by construction, that all superintegrable systems on conformally flat, 3D complex Riemannian…
We study nonlinear systems with observation errors. The main problem addressed in this paper is the design of feedbacks for globally asymptotically controllable (GAC) control affine systems that render the closed loop systems input to state…
In this paper we introduce universal asymptotic unfolding normal forms for nonlinear singular systems. Next, we propose an approach to find the parameters of a parametric singular system that they play the role of universal unfolding…