相关论文: Controlled Lagrangians and Potential Shaping for S…

In this paper, the problem of non-fragile finite-time stabilization for linear discrete mean-field stochastic systems is studied. The uncertain characteristics in control parameters are assumed to be random satisfying the Bernoulli…

The purpose of this paper is describe Lagrangian Mechanics for constrained systems on Lie algebroids, a natural framework which covers a wide range of situations (systems on Lie groups, quotients by the action of a Lie group, standard…

We develop a linear systems theory that coincides with the existing theories for continuous and discrete dynamical systems, but that also extends to linear systems defined on nonuniform time domains. The approach here is based on…

We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of…

A Lyapunov-based method is presented for stabilizing and controlling of closed quantum systems. The proposed method is constructed upon a novel quantum Lyapunov function of the system state trajectory tracking error. A positive-definite…

For controller design for systems on manifolds embedded in Euclidean space, it is convenient to utilize a theory that requires a single global coordinate system on the ambient Euclidean space rather than multiple local charts on the…

We study model predictive control for singular differential-algebraic equations with higher index. This is a novelty when compared to the literature where only regular differential-algebraic equations with additional assumptions on the…

An experimental method has been developed to locate unstable equilibria of nonlinear structures quasi-statically. The technique involves loading a structure by application of either a force or a displacement at a main actuation point, while…

In this paper, we study the problem of extremum seeking control for mechanical systems in dissipation-free environments. This includes attitude control of satellites in space and displacement control of rigid bodies in ideal fluids. The…

This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between…

Kullback Leibler (KL) control problems allow for efficient computation of optimal control by solving a principal eigenvector problem. However, direct applicability of such framework to continuous state-action systems is limited. In this…

When neural networks are used to model dynamics, properties such as stability of the dynamics are generally not guaranteed. In contrast, there is a recent method for learning the dynamics of autonomous systems that guarantees global…

We consider the problem of adaptive stabilization for discrete-time, multi-dimensional linear systems with bounded control input constraints and unbounded stochastic disturbances, where the parameters of the true system are unknown. To…

A chaos control algorithm is developed to actively stabilize unstable periodic orbits of higher-dimensional systems. The method assumes knowledge of the model equations and a small number of experimentally accessible parameters. General…

We aim at providing a characterization of the ability to maintain a stochastic coupled system with porous media components in a prescribed set of constraints by using internal controls. This property is proven via a quasi-tangency…

This paper is concerned with the decentralized stabilization problem for a class of uncertain large-scale systems with Markovian jump parameters. The controllers use local subsystem states and neighboring mode information to generate local…

We consider control-constrained linear-quadratic optimal control problems on evolving surfaces. In order to formulate well-posed problems, we prove existence and uniqueness of weak solutions for the state equation, in the sense of…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…

In this work we introduce a category of discrete Lagrange--Poincare systems LP_d and study some of its properties. In particular, we show that the discrete mechanical systems and the discrete mechanical systems obtained by the Lagrangian…

This article investigates the modeling and control of Lagrangian systems involving non-conservative forces using a hybrid method that does not require acceleration calculations. It focuses in particular on the derivation and identification…