In this paper we estimate the minimal controllability time for a class of non-linear control systems with a bounded convex state constraint. An explicit expression is given for the controllability time if the image of the control matrix is of co-dimension one. A lower bound for the controllability time is given in the general case. The technique is based on finding a lower dimension system with the similar controllability properties as the original system. The controls corresponding to the minimal time, or time close to the minimal one, are discussed and computed analytically. The effectiveness of the proposed approach is illustrated by a few examples.
In this paper, we study graphical conditions for structural controllability and accessibility of drifted bilinear systems over Lie groups. We consider a bilinear control system with drift and controlled terms that evolves over the special orthogonal group, the general linear group, and the special unitary group. Zero patterns are prescribed for the drift and controlled dynamics with respect to a set of base elements in the corresponding Lie algebra. The drift dynamics must respect a rigid zero-pattern in the sense that the drift takes values as a linear combination of base elements with strict…
Symmetric spaces arise in wide variety of problems in Mathematics and Physics. They are mostly studied in Representation theory, Harmonic analysis and Differential geometry. As many physical systems have symmetric spaces as their configuration spaces, the study of controllability on symmetric space is quite interesting. In this paper, a driftless control system of type \dot{x}= \sum_{i=1}^m u_if_i(x) is considered on a symmetric space. For this we have established global controllability condition which is illustrated by few examples of exponential submanifolds of SE(3) and random matrix ensemb…
We give a characterization of the controllability for discrete-time linear systems with convex output constraints. It extends all previously known characterizations in the literature, as well as our previous results on controllability of discrete-time linear systems with conic output constraints.
This paper studies reachability and null-controllability for difference inclusions involving convex processes. Such difference inclusions arise, for instance, in the study of linear discrete-time systems whose inputs and/or states are constrained to lie within a convex cone. After developing a geometric framework for convex processes relying on invariance properties, we provide necessary and sufficient conditions for both reachability and null-controllability in terms of the spectrum of dual processes.
This paper presents graph theoretic conditions for the controllability and accessibility of bilinear systems over the special orthogonal group, the special linear group and the general linear group, respectively, in the presence of drift terms. Such bilinear systems naturally induce two interaction graphs: one graph from the drift, and another from the controlled dynamics. As a result, the system controllability or accessibility becomes a property of the two graphs in view of the classical Lie algebra rank condition. We establish a systemic way of transforming the Lie bracket operations in the…
Controllability maximization problem under sparsity constraints is a node selection problem that selects inputs that are effective for control in order to minimize the energy to control for desired state. In this paper we discuss the equivalence between the sparsity constrained controllability metrics maximization problems and their convex relaxation. The proof is based on the matrix-valued Pontryagin maximum principle applied to the controllability Lyapunov differential equation.
In this paper we show that a complete characterization of the controllability property for linear control system on three-dimensional solvable nonnilpotent Lie groups is possible by the LARC and the knowledge of the eigenvalues of the derivation associated with the drift of the system.
In this paper, we prove a logarithmic convexity that reflects an observability estimate at a single point of time for 1-D heat equation with dynamic boundary conditions. Consequently, we establish the impulse approximate controllability for the impulsive heat equation with dynamic boundary conditions. Moreover, we obtain an explicit upper bound of the cost of impulse control. At the end, we give a constructive algorithm for computing the impulsive control of minimal $L^2$-norm. We also present some numerical tests to validate the theoretical results and show the efficiency of the designed algo…
This paper studies controllability of a discrete-time linear dynamical system using nonnegative and sparse inputs. These constraints on the control input arise naturally in many real-life systems where the external influence on the system is unidirectional, and activating each input node adds to the cost of control. We derive the necessary and sufficient conditions for controllability of the system, without imposing any constraints on the system matrices. Unlike the well-known Kalman rank based controllability criteria, the conditions presented in this paper can be verified in polynomial time,…
This paper deals with the hierarchical control of the anisotropic heat equation with dynamic boundary conditions and drift terms. We use the Stackelberg-Nash strategy with one leader and two followers. To each fixed leader, we find a Nash equilibrium corresponding to a bi-objective optimal control problem for the followers. Then, by some new Carleman estimates, we prove a null controllability result.
A widely used stochastic plate equation is the classical plate equation perturbed by a term of Itô's integral. However, it is known that this equation is not exactly controllable even if the controls are effective everywhere in both the drift and the diffusion terms and also on the boundary. In some sense, this means that some key feature has been ignored in this model. Then, a one-dimensional refined stochastic plate equation is proposed and its exact controllability is established in [28]. In this paper, by means of a new global Carleman estimate, we establish the exact controllability of th…
A widely used stochastic wave equation is the classical wave equation perturbed by a term of Itô's integral. We show that this equation is not exactly controllable even if the controls are effective everywhere in both the drift and the diffusion terms and also on the boundary. In some sense this means that some key feature has been ignored in this model. Then, based on a stochastic Newton's law, we propose a refined stochastic wave equation. By means of a new global Carleman estimate, we establish the exact controllability of our stochastic wave equation with three controls. Moreover, we give …
In this paper, we consider forward stochastic nonlinear parabolic equations, with a control localized in the drift term. Under suitable assumptions, we prove the small-time global null-controllability, with a truncated nonlinearity. We also prove the statistical local null-controllability of the true system. The proof relies on a precise estimation of the cost of null-controllability of the stochastic heat equation and on an adaptation of the source term method to the stochastic setting. The main difficulty comes from the estimation of the nonlinearity in the fixed point argument due to the la…
We provide global and semi-global controllability results for hyperbolic conservation laws on a bounded domain, with a general (not necessarily convex)flux and a time-dependent source term acting as a control. The results are achieved for, possibly critical, both continuously differentiable states and BV states. The proofs are based on a combination of the return method and on the analysis of the Riccati equaiton for the space derivative of the solution.
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie brackets of length up to 3. This class of systems includes, in particular, mathematical models of rotating rigid bodies. We propose an explicit control design scheme with time-varying trigonometric polynomials whose coefficients depend on the state of the system. The above coefficients are computed in terms of the inversion of the matrix appearing in the control…
A Controllability Gramain Shaping with LMI Constraints under Bures--Wasserstein Distance
Institute of Technology, Shimizu Corporation（清水建设研究所）；National Institute of Informatics（情报学研）；Graduate School of Informatics, Kyoto University（京都大学大学院信息学研究科）；Polytechnic University of Japan（日本工业大学）
We consider nonlinear scalar-input differential control systems in the vicinity of an equilibrium. When the linearized system at the equilibrium is controllable, the nonlinear system is smoothly small-time locally controllable, i.e., whatever $m>0$ and $T>0$, the state can reach a whole neighborhood of the equilibrium at time $T$ with controls arbitrary small in $C^m$-norm. When the linearized system is not controllable, we prove that small-time local controllability cannot be recovered from the quadratic expansion and that the following quadratic alternative holds. Either the state is constra…
In this article, we consider the rolling (or development) of two Riemannian connected manifolds $(M,g)$ and $(\hat{M},\hat{g})$ of dimensions $2$ and $3$ respectively, with the constraints of no-spinning and no-slipping. The present work is a continuation of \cite{MortadaKokkonenChitour}, which modelled the general setting of the rolling of two Riemannian connected manifolds with different dimensions as a driftless control affine system on a fibered space $Q$, with an emphasis on understanding the local structure of the rolling orbits, i.e., the reachable sets in $Q$. In this paper, the state …
Spectral analysis of convex processes has led to many results in the analysis of differential inclusions with a convex process. In particular the characterization of eigenvalues with eigenvectors in a given cone has led to results on controllability and stabilizability. However, these characterizations can handle only pointed cones. This paper will generalize all known results characterizing eigenvalues of convex processes with eigenvectors in a given cone. In addition, we reveal the link between the assumptions on our main theorem and classical geometric control theory.
This work is devoted to the control of the Fokker-Planck equation, posed on a smooth bounded domain of R^d, with a localized drift force. We prove that this equation is locally controllable to regular nonzero trajectories. Moreover, under some conditions, we explain how to reduce the number of controls around the reference control. The results are obtained thanks to a standard linearization method and the fictitious control method. The main novelties are twofold. First, the algebraic solvability is performed and used directly on the adjoint problem. We then prove a new Carleman inequality for …
We consider scalar-input control systems in the vicinity of an equilibrium, at which the linearized systems are not controllable. For finite dimensional control systems, the authors recently classified the possible quadratic behaviors. Quadratic terms introduce coercive drifts in the dynamics, quantified by integer negative Sobolev norms, which are linked to Lie brackets and which prevent smooth small-time local controllability for the full nonlinear system. In the context of nonlinear parabolic equations, we prove that the same obstructions persist. More importantly, we prove that two new beh…
In optimal control theory, infimum gap means that there is a gap between the infimum values of a given minimum problem and an extended problem, obtained by enlarging the set of original solutions and controls. The gap phenomenon is somewhat "dual" to the problem of the controllability of the original control system to an extended solution. In this paper we present sufficient conditions for the absence of an infimum gap and for controllability for a wide class of optimal control problems subject to endpoint and state constraints. These conditions are based on a nondegenerate version of the nons…
There has been a great deal of recent interest in learning and approximation of functions that can be expressed as expectations of a given nonlinearity with respect to its random internal parameters. Examples of such representations include "infinitely wide" neural nets, where the underlying nonlinearity is given by the activation function of an individual neuron. In this paper, we bring this perspective to function representation by neural stochastic differential equations (SDEs). A neural SDE is an Itô diffusion process whose drift and diffusion matrix are elements of some parametric familie…
For a general nonlinear control system, we study the problem of small time local attainability of a target which is the closure of an open set. When the target is smooth and locally the sublevel set of a smooth function, we develop second order attainability conditions as explicit pointwise conditions on the vector fields at points where all the available vector fields are contained in the tangent space of its boundary. Our sufficient condition requires the function defining the target to be a strict supersolution of a second order degenerate elliptic equation and if satisfied, it allows to re…
