7 citations · 12 across the 21 of their papers we have counts for
15 papers · 1 filter
A converse Lyapunov-type theorem for control systems with regulated cost
Anna Chiara Lai, Monica Motta
Given a nonlinear control system, a target set, a nonnegative integral cost, and a continuous function , we say that the system is globally asymptotically controllable to the ta…
Converse Lyapunov theorems for control systems with unbounded controls
Anna Chiara Lai, Monica Motta
In this paper, we extend well-known relationships between global asymptotic controllability, sample stabilizability, and the existence of a control Lyapunov function to a wide clas…
Effects of fractional derivatives in epidemic models
Caterina Balzotti, Mirko D'Ovidio, Anna Chiara Lai +1
We study epidemic Susceptible-Infected-Susceptible models in the fractional setting. The novelty is to consider models in which the susceptible and infected populations evolve acco…
Solutions of Bernoulli equations in the fractional setting
Mirko D'Ovidio, Anna Chiara Lai, Paola Loreti
We present a general series representation formula for the local solution of Bernoulli equation with Caputo fractional derivatives. We then focus on a generalization of the fractio…
Constrained reachability problems for a planar manipulator
Simone Cacace, Anna Chiara Lai, Paola Loreti
We address an optimal reachability problem for a planar manipulator in a constrained environment. After introducing the optmization problem in full generality, we practically embed…
Optimal reachability and grasping for a soft manipulator
Simone Cacace, Anna Chiara Lai, Paola Loreti
We investigate optimal reachability and grasping problems for a planar soft manipulator, from both a theoretical and numerical point of view. The underlying control model describes…
Modeling and Optimal Control of an Octopus Tentacle
Simone Cacace, Anna Chiara Lai, Paola Loreti
We present a control model for an octopus tentacle, based on the dynamics of an inextensible string with curvature constraints and curvature controls. We derive the equations of mo…
Stabilizability in optimal control
Anna Chiara Lai, Monica Motta
We extend the classical concepts of sampling and Euler solutions for control systems associated to discontinuous feedbacks by considering also the corresponding costs. In particula…
Internal observability of the wave equation in a triangular domain
Vilmos Komornik, Anna Chiara Lai, Paola Loreti
We investigate the internal observability of the wave equation with Dirichlet boundary conditions in a triangular domain. More precisely, the domain taken into exam is the half of…
Minimum Restraint Functions for unbounded dynamics: general and control-polynomial systems
A. C. Lai, M. Motta, F. Rampazzo
We consider an exit-time minimum problem with a running cost, and unbounded controls. The occurrence of points where can be regarded as a transversality loss. Furth…
A note on the reachability of a Fibonacci control system
Anna Chiara Lai
Motivated by applications in robotics, we investigate a discrete control system related Fibonacci sequence and we characterize its reachable set.
GAC, savings, and unbounded inputs
Anna Chiara Lai, Franco Rampazzo
Let a control system and a target be given on an open subset of an Euclidean space. The existence of a Control Lyapunov Function - namely a positive definite, semiconcave, solution…
A control model for zygodactyl bird's foot
Anna Chiara Lai, Paola Loreti
In this paper we are interested to the zygodactyly phenomenon in birds, and in particolar in parrots. This arrangement, common in species living on trees, is a distribution of the…
A Fibonacci control system with application to hyper-redundant manipulators
Anna Chiara Lai, Paola Loreti, Pierluigi Vellucci
We study a robot snake model based on a discrete linear control system involving Fibonacci sequence and closely related to the theory of expansions in non-integer bases. The presen…
Robot's hand and expansions in non-integer bases
Anna Chiara Lai, Paola Loreti
We study a robot hand model in the framework of the theory of expansions in non-integer bases. We investigate the reachable workspace and we study some configurations enjoying form…