168 research outputs found
Optimal controller gain tuning for robust stability of spacecraft formation
The spacecraft formation control problem sets high demands to the performance, especially with respect to positional accuracy. The problem is further complicated due to scarce fuel resources and limited actuation effects, in addition to the many sources of disturbances. This paper addresses the problem of finding the optimal gains of spacecraft formation controllers. By optimal, we mean the gains that minimizes a cost functional which penalizes both the control efforts and the state deviation, while still guaranteeing stability of the closed-loop systems in the presence of disturbances
Observability of Switched Linear Systems in Continuous Time
We study continuous-time switched linear systems with unobserved and exogeneous mode signals. We analyze the observability of the initial state and initial mode under arbitrary switching, and characterize both properties in both autonomous and non-autonomous cases
Singularly Perturbed Monotone Systems and an Application to Double Phosphorylation Cycles
The theory of monotone dynamical systems has been found very useful in the
modeling of some gene, protein, and signaling networks. In monotone systems,
every net feedback loop is positive. On the other hand, negative feedback loops
are important features of many systems, since they are required for adaptation
and precision. This paper shows that, provided that these negative loops act at
a comparatively fast time scale, the main dynamical property of (strongly)
monotone systems, convergence to steady states, is still valid. An application
is worked out to a double-phosphorylation ``futile cycle'' motif which plays a
central role in eukaryotic cell signaling.Comment: 21 pages, 3 figures, corrected typos, references remove
Avoidance Control on Time Scales
We consider dynamic systems on time scales under the control of two agents.
One of the agents desires to keep the state of the system out of a given set
regardless of the other agent's actions. Leitmann's avoidance conditions are
proved to be valid for dynamic systems evolving on an arbitrary time scale.Comment: Revised edition in JOTA format. To appear in J. Optim. Theory Appl.
145 (2010), no. 3. In Pres
Moving constraints as stabilizing controls in classical mechanics
The paper analyzes a Lagrangian system which is controlled by directly
assigning some of the coordinates as functions of time, by means of
frictionless constraints. In a natural system of coordinates, the equations of
motions contain terms which are linear or quadratic w.r.t.time derivatives of
the control functions. After reviewing the basic equations, we explain the
significance of the quadratic terms, related to geodesics orthogonal to a given
foliation. We then study the problem of stabilization of the system to a given
point, by means of oscillating controls. This problem is first reduced to the
weak stability for a related convex-valued differential inclusion, then studied
by Lyapunov functions methods. In the last sections, we illustrate the results
by means of various mechanical examples.Comment: 52 pages, 4 figure
Universal neural field computation
Turing machines and G\"odel numbers are important pillars of the theory of
computation. Thus, any computational architecture needs to show how it could
relate to Turing machines and how stable implementations of Turing computation
are possible. In this chapter, we implement universal Turing computation in a
neural field environment. To this end, we employ the canonical symbologram
representation of a Turing machine obtained from a G\"odel encoding of its
symbolic repertoire and generalized shifts. The resulting nonlinear dynamical
automaton (NDA) is a piecewise affine-linear map acting on the unit square that
is partitioned into rectangular domains. Instead of looking at point dynamics
in phase space, we then consider functional dynamics of probability
distributions functions (p.d.f.s) over phase space. This is generally described
by a Frobenius-Perron integral transformation that can be regarded as a neural
field equation over the unit square as feature space of a dynamic field theory
(DFT). Solving the Frobenius-Perron equation yields that uniform p.d.f.s with
rectangular support are mapped onto uniform p.d.f.s with rectangular support,
again. We call the resulting representation \emph{dynamic field automaton}.Comment: 21 pages; 6 figures. arXiv admin note: text overlap with
arXiv:1204.546
Mass transportation with LQ cost functions
We study the optimal transport problem in the Euclidean space where the cost
function is given by the value function associated with a Linear Quadratic
minimization problem. Under appropriate assumptions, we generalize Brenier's
Theorem proving existence and uniqueness of an optimal transport map. In the
controllable case, we show that the optimal transport map has to be the
gradient of a convex function up to a linear change of coordinates. We give
regularity results and also investigate the non-controllable case
On observability of Renyi's entropy
Despite recent claims we argue that Renyi's entropy is an observable
quantity. It is shown that, contrary to popular belief, the reported domain of
instability for Renyi entropies has zero measure (Bhattacharyya measure). In
addition, we show the instabilities can be easily emended by introducing a
coarse graining into an actual measurement. We also clear up doubts regarding
the observability of Renyi's entropy in (multi--)fractal systems and in systems
with absolutely continuous PDF's.Comment: 18 pages, 1 EPS figure, REVTeX, minor changes, accepted to Phys. Rev.
Controllability on infinite-dimensional manifolds
Following the unified approach of A. Kriegl and P.W. Michor (1997) for a
treatment of global analysis on a class of locally convex spaces known as
convenient, we give a generalization of Rashevsky-Chow's theorem for control
systems in regular connected manifolds modelled on convenient
(infinite-dimensional) locally convex spaces which are not necessarily
normable.Comment: 19 pages, 1 figur
Noise Filtering Strategies of Adaptive Signaling Networks: The Case of E. Coli Chemotaxis
Two distinct mechanisms for filtering noise in an input signal are identified
in a class of adaptive sensory networks. We find that the high frequency noise
is filtered by the output degradation process through time-averaging; while the
low frequency noise is damped by adaptation through negative feedback. Both
filtering processes themselves introduce intrinsic noises, which are found to
be unfiltered and can thus amount to a significant internal noise floor even
without signaling. These results are applied to E. coli chemotaxis. We show
unambiguously that the molecular mechanism for the Berg-Purcell time-averaging
scheme is the dephosphorylation of the response regulator CheY-P, not the
receptor adaptation process as previously suggested. The high frequency noise
due to the stochastic ligand binding-unbinding events and the random ligand
molecule diffusion is averaged by the CheY-P dephosphorylation process to a
negligible level in E.coli. We identify a previously unstudied noise source
caused by the random motion of the cell in a ligand gradient. We show that this
random walk induced signal noise has a divergent low frequency component, which
is only rendered finite by the receptor adaptation process. For gradients
within the E. coli sensing range, this dominant external noise can be
comparable to the significant intrinsic noise in the system. The dependence of
the response and its fluctuations on the key time scales of the system are
studied systematically. We show that the chemotaxis pathway may have evolved to
optimize gradient sensing, strong response, and noise control in different time
scalesComment: 15 pages, 4 figure
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