3 papers
math.OC2026
Scalable iterative Gramian synthesis for control-affine systems
Zongxi Yu, Cyprien Tamekue, Ruiqi Chen +1
This article presents a scalable implementation of nonlinear Gramian-based control synthesis for control-affine systems, including a minimum energy control construction. These synt…
math.OC2026
Control analysis and synthesis for general control-affine systems
Cyprien Tamekue, ShiNung Ching
We study controllability and constructive synthesis for control-affine systems. We introduce trajectory-dependent Gramian maps that extend the linear time-varying Gramian and yield…
math.OC2026
Minimum-Energy Control For Control-Affine Systems
Cyprien Tamekue, Zongxi Yu, ShiNung Ching
In this letter, we derive minimum-energy controls for a broad class of control-affine systems using a Lagrange multiplier fixed-point equation and a generally non-symmetric Gramian…