Sampling-based model predictive control ( MPC ) optimization methods, such as Model Predictive Path Integral xmlns:xlink="http://www.w3.org/1999/xlink">MPPI ), have recently shown promising results in various robotic tasks. However, it might produce an infeasible trajectory when the distrib...

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The internal model control (IMC) design method for stable plants has enjoyed much popularity due to its simple yet effective procedure. However, there are some shortcomings and inadequacies with the IMC design method for both stable and unstable plants which will be exposed in this paper. We propose a new H∞ control design method that somehow captures the useful properties of the IMC design met...

In this paper, we develop new methods for the analysis of decentralized control systems and we apply them to formation control problems. The basic set-up consists of a system with multiple agents represented by the nodes of a directed graph whose edges represent an available communication channel for the agents. We address the question of whether the information flow defined by the graph is suf...

A geometric setup for control theory is presented. The argument is developed through the study of the extremals of action functionals defined on piecewise differentiable curves, in the presence of differentiable non–holonomic constraints. Special emphasis is put on the tensorial aspects of the theory. To start with, the kinematical foundations, culminating in the so called variational equation,...

1. Common and shared responsibility is a principle of international law and is applied in many fields of cooperation. It is thus not specific to drug control. Whereas international treaties establish a set of rules creating individual obligations for States parties, the principle of common and shared responsibility goes much further. It provides the framework for a cooperative partnership among...

Abslracf-TES (hmsform-expand-sample) is a versatile class of stationary stochastic proeeesea which can model arbitrary marginnls, a wide variety of autocorreLtion funcths, and a brod range of sample path behaviors. TES parameters are of two weds: the 6rst kind is used for the exact fitting of the empirical distributiom &Wog”), while the second kind is used for appmximafhg the empirical antm”lat...