CDC2000 Controllability of Nonlinear Systems

Controllability of Nonlinear Systems
Home Full List of Titles 1: Proceedings of CDC2000 Discrete Event Systems Control in Communication Systems Optimal Control and Applications I Optimisation Approaches and Methods Model Predictive Control Advances in Linear Estimation Stochastic and Uncertain Systems Nonlinear Control and Applications Nonlinear Estimation and Filtering Formation Control and its Applications New Approaches to Fuzzy Control Manufacturing Systems Automotive Applications Stability Issues in Hybrid Control Recent Advances in Stochastic Networks Optimal Control and Applications II Robust Controller Design - mu, L1 and H2 Constrained and Receding Horizon Control Identification and Control around the World Markov Decision Processes Nonlinear Optimisation Observers for Nonlinear Systems Motion Planning Neural / Fuzzy Stability and Control Motor Control Control of Quantum Phenomena I Hybrid Systems Methods Control in Communication Networks Robustness and Optimisation Bumpless Transfer, Antiwindup and Saturation Adaptive Control: Linear Systems Estimation and Closed Loop Identification Control of Markov Processes Nonlinear Filtering and Control Modelling, Identification and Validation of Nonlinear Systems Differential Geometric Control Theory for Mechanical Systems Nonlinear Output Feedback Control Pneumatics and Compression Systems Control of Quantum Phenomena II Stability of Hybrid Systems Performance Analysis in Communication Networks Adaptive Control of Nonlinear Systems LMI Methods in Design Robust Control of Time Delay Systems Subspace Identification Methods Nonlinear Stochastic Filtering and Estimation Bifurcations, Chaos and Control I New Progress in Synthesis of Nonlinear Systems I Implementation Issues of Sliding Mode Control Theory Control of Mixing in Shear Flows Novel Neural Network Control Techniques for Industrial Motion Control Systems Physiological Control Systems Optimal Control of Hybrid Systems Stochastic Models for Communication Networks Control and Stabilisation of Nonlinear Systems New Directions in Robust Control Linear Systems Theory Advanced Topics in Systems Theory Estimation in Action Bifurcations, Chaos and Control II New Progress in Synthesis of Nonlinear Systems II Numerical Design and Analysis Techniques for Nonlinear Systems Analysis and Control of Underactuated Systems Sliding Mode Control I Challenges in the Application of Control to Computer Systems Estimation and Diagnosis of Discrete Event Systems Communications and Games Optimal Control Stochastic Systems Model Reduction Methodologies Identification and Subspace Methods Applications of Nonlinear Adaptive Control Advances in Nonlinear Output Feedback Design The Behavioural Approach to Systems and Control Vision Based Estimation and Control: Recent Advances and Open Problems Agile Control of Military Operations Sliding Mode Control II Model-based Fault Diagnosis of Industrial Processes Discrete Event Systems / Petri Nets System Identification and Confidence Estimation New Approaches to H-Infinity Control I Probabilistic Approaches to Robust Control Time Delay System Stabilisation Identification Methods Controlled Stochastic Processes Output Feedback of Nonlinear Systems Topics in Nonlinear Stabilisation Mobile Robots: Tracking Control Robust Control of Nonlinear Systems Power Systems Stabilisation and Control Disk Drive Control Hybrid Control Applications Discrete Time Systems New Approaches to H-Infinity Control II Linear Systems with Saturating Actuators New Theories in Distributed Parameter Systems Applications of Estimation and Identification Stochastic Control and Tuning Methodologies Control of Nonlinear Systems Iterative Learning and Control Coordinating Robot Systems Nonlinear Time Varying Systems Novel Applications of Neural Networks Aerospace Applications Switched Systems Implicit and Descriptor Systems LQG Periodic Systems and Disturbances New Horizons for Distributed Parameter Systems State Estimation Learning and Neuro-Control Nonlinear Control and Stabilisation I Tracking Vision Servoing Controllability of Nonlinear Systems Control of Flexible Systems Electro-Mechanical Systems Robust Control Methods and Applications Fault Detection and Diagnosis Optimisation and Applications Robust Stability Analysis Numerical Methods in Control Filtering in Continuous Time Stochastic Systems Interplay between Control and Signal Processing Fault Detection and Analysis Nonlinear Dynamical Systems Nonlinear Time Delay Systems Computational Issues in Nonlinear Control Disturbance Rejection Process Control Industry Applications Linear Parameter Varying Systems Linear Control Systems Dynamic and Nonlinear Programming Model Reduction Applications New Techniques for Control and Systems: Numerical Linear Algebra Estimation and Identification using Hidden Markov Models Applications of Stochastic Control Topics in Linear Design Nonlinear Control and Stabilisation II Ambulatory Robot Systems Chaotic and Oscillatory Systems Biomedical System Control Integrated Control and CPU Scheduling Linear Design Techniques Adaptive Disturbance / Noise Compensation Nonlinear Model Predictive Control Sensitivity Design, Analysis and Limitations Analysis of Linear Systems Linear Matrix Inequalities in Design Lyapunov's 2nd Method Robotics: Tracking Control Lagrangian and Hamiltonian Theory Variable Structure Control Machine Vision Signal Processing Methods in Control Applied Nonlinear Control Author Index A B C D E F G H I J K L M N O P Q R S T U V W X Y Z	Reachability Analysis for a Class of Quantized Control Systems Authors: Alessia Marigo, Benedetto Piccoli, Antonio Bicchi, Volume: 1, Page 3963 Paper number 2179 Abstract: In this paper we study control systems whose input sets are quantized. We specifically focus on problems relating to the structure of the reachable set of such systems, which may turn out to be either dense or discrete. We report on some recent results on the reachable set of linear quantized systems, and study in detail an interesting class of nonlinear systems, forming the discrete counterpart of driftless nonholonomic continuous systems. For such systems, we provide a complete characterization of the reachable set, and, in the case the set is discrete, a computable method to describe its lattice structure. CD002179.PDF (From Author) TOP When are Product Systems Controllable? Authors: Goetz P. Grammel, Volume: 1, Page 3969 Paper number 9093 Abstract: A product system consists of a finite number of independent control systems. We introduce the notion of `controllability with selectable time' in order to investigate the controllability of product systems. If all factors are controllable and at most one factor is not controllable with selectable time, then the product system is controllable. For locally accessible control affine systems, the converse is true as well. CD009093.PDF (From Author) TOP On Nonlinear Controllability of Homogeneous Systems Linear in Control Authors: James W. Melody, Tamer Bas;ar, Francesco Bullo, Volume: 1, Page 3971 Paper number 1381 Abstract: This work considers small-time local controllability (STLC) of single and multiple input systems, (dot-)x = f_(circ)(x) + (sum)_i=1^m f_i u^i where f_(circ)(x) contains homogeneous polynomials and f_1,...,f_m are constant vector fields. For single input systems, it is shown that even-degree homogeneity precludes STLC if the state dimension is larger than one. This, along with the obvious result that for odd-degree homogeneous systems STLC is equivalent to accessibility, provides a complete characterization of STLC for this class of systems. In the multiple-input case, transformations on the input space are applied to homogeneous systems of degree two, an example of this type of system being motion of a rigid-body in a plane. Such input transformations are related via consideration of a tensor on the tangent space to congruence transformation of a matrix to one with zeros on the diagonal. Conditions are given for successful neutralization of bad type (1,2) brackets via congruence transformations. CD001381.PDF (From Author) TOP Accessibility Properties of Controlled Lotka-Volterra Systems Authors: Patrick De Leenheer, Dirk Aeyels, Volume: 1, Page 3977 Paper number 1472 Abstract: Although the dynamical behavior of Lotka-Volterra systems has been studied thoroughly, there exist few results on control related aspects for these systems. We introduce controlled Lotka-Volterra systems and deal with their accessibility properties. Accessibility can be seen as a first step towards controllability. In particular a necessary condition is proposed and for systems satisfying this condition a sufficient condition is obtained. Both conditions amount to checking the rank of a particular matrix. CD001472.PDF (From Author) TOP On the Controllability of Systems on Compact Lie Groups and Quantum Mechanical Systems Authors: Domenico D'Alessandro, Volume: 1, Page 3982 Paper number 1086 Abstract: We develop some general results on the properties of the reachable sets for right invariant bilinear systems with state varying on compact Lie groups. The main results consist of a characterization of the set of states reachable in arbitrary time from the identity of the group. This, under suitable assumptions, is proved to be a Lie subgroup of the underlying Lie group. We apply these results to the analysis of the controllability of particles with spin. For these systems we also obtain estimates of the time after which every state is reachable from the identity. The analysis is motivated by the problem of controlling a two-level quantum systems in implementations of quantum computers. CD001086.PDF (From Author) TOP A Characterization Of The Lie Algebra Rank Condition By Transverse Periodic Functions Authors: Pascal Morin, Claude Samson, Volume: 1, Page 3988 Paper number 1034 Abstract: The Lie Algebra Rank Condition plays a central role in nonlinear systems control theory. We show that the satisfaction of this condition by a set of smooth control vector fields is equivalent to the existence of smooth transverse periodic functions. The proof here outlined is constructive and provides a method for the determination of such functions. This is illustrated by an example. CD001034.PDF (From Author) TOP Uniform Asymptotic Controllability to a Set Implies Locally Lipschitz Control-Lyapunov Function Authors: Christopher M. Kellett, Andrew R. Teel, Volume: 1, Page 3994 Paper number 2000 Abstract: We show that uniform global asymptotic controllability to a closed (not necessarily compact) set for a locally Lipschitz nonlinear control system implies the existence of a locally Lipschitz control-Lyapunov function (clf), and from this clf we construct a feedback that is robust to measurement noise. CD002000.PDF (From Author) TOP