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A novel delayed feedback control based on full state is proposed. The designed scheme combines the difference between two delayed states and a periodic control gain. System stabilization is achieved in any hyperbolic unstable equilibrium point. The p
Externí odkaz:
http://arxiv.org/abs/2406.10439
Autor:
Piengeon, Violaine, Guiver, Chris
Incremental stability properties are considered for certain systems of forced, nonlinear differential equations with a particular positivity structure. An incremental stability estimate is derived for pairs of input/state/output trajectories of the L
Externí odkaz:
http://arxiv.org/abs/2402.03955
Autor:
Garcia, Jorge S., Ohsawa, Tomoki
Publikováno v:
Journal of Nonlinear Science, Volume 34, article number 91, (2024)
We extend the method of Controlled Lagrangians to nonholonomic Euler--Poincar\'e equations with advected parameters, specifically to those mechanical systems on Lie groups whose symmetry is broken not only by a potential force but also by nonholonomi
Externí odkaz:
http://arxiv.org/abs/2303.13086
Autor:
Ryoo, Sang Woo
It is known that the Kuramoto model has a critical coupling strength above which phase-locked states exist, and, by the work of Choi, Ha, Jung, and Kim (2012), that these phase-locked states are orbitally stable. This property of admitting orbitally
Externí odkaz:
http://arxiv.org/abs/2109.14761
Much recent interest has focused on the design of optimization algorithms from the discretization of an associated optimization flow, i.e., a system of differential equations (ODEs) whose trajectories solve an associated optimization problem. Such a
Externí odkaz:
http://arxiv.org/abs/2105.08832
We consider a widely used form of models for ship maneuvering, whose nonlinearities entail continuous but nonsmooth second-order modulus terms. For such models bifurcations of straight motion are not amenable to standard center manifold reduction and
Externí odkaz:
http://arxiv.org/abs/2104.10663
Autor:
Contreras, César, Ohsawa, Tomoki
Publikováno v:
Mathematics of Control, Signals, and Systems, volume 34, pages 329-359 (2022)
We apply the method of controlled Lagrangians by potential shaping to Euler--Poincar\'e mechanical systems with broken symmetry. We assume that the configuration space is a general semidirect product Lie group $\mathsf{G} \ltimes V$ with a particular
Externí odkaz:
http://arxiv.org/abs/2103.03787
We consider an input-constrained differential-drive robot with actuator dynamics. For this system, we establish asymptotic stability of the origin on arbitrary compact, convex sets using Model Predictive Control (MPC) without stabilizing terminal con
Externí odkaz:
http://arxiv.org/abs/2102.09290
Publikováno v:
Chaos, V. 30 (2020), 15 pp
We stabilize a prescribed cycle or an equilibrium of the difference equation using pulsed stochastic control. Our technique, inspired by the Kolmogorov's Law of Large Numbers, activates a stabilizing effect of stochastic perturbation and allows for s
Externí odkaz:
http://arxiv.org/abs/2012.11086
We consider the neural ODE perspective of supervised learning and study the impact of the final time $T$ (which may indicate the depth of a corresponding ResNet) in training. For the classical $L^2$--regularized empirical risk minimization problem, w
Externí odkaz:
http://arxiv.org/abs/2008.02491