Related papers: Global uniform asymptotic stabilization and k-expo…
The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…
The orbit tracking of free-evolutionary target system in closed quantum systems is studied in this paper. Based on the concept of system control theory, the unitary transformation is applied to change the time-dependent target function into…
We consider the question of asymptotic stability of quantum trajectories undergoing quantum non-demolition imperfect measurement, that is to say the convergence of the estimated trajectory towards the true trajectory whose parameters and…
This work has the goal of briefly surveying some key stabilization techniques for general nonlinear systems, for which, as it is well known, a smooth control Lyapunov function may fail to exist. A general overview of the situation with…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…
A Lyapunov-based method is presented for stabilizing and controlling of closed quantum systems. The proposed method is constructed upon a novel quantum Lyapunov function of the system state trajectory tracking error. A positive-definite…
In this article, we provide a general strategy based on Lyapunov functionals to analyse global asymptotic stability of linear infinite-dimensional systems subject to nonlinear dampings under the assumption that the origin of the system is…
In this work we study the asymptotic behavior of a class of damped second-order gradient systems $$ \ddot{u}(t) + a\dot{u}(t) + \nabla W(u(t)) = 0, $$ under assumptions ensuring local convexity of the potential near equilibrium and…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying humanoid robots in dynamic real-world environments such as…
This paper investigates the trajectory tracking problem of underactuated marine vessels within a polar coordinate framework. By introducing two polar coordinate transformations (PCTs), the original two-input-three-output second-order…
This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…
In this work, we propose the design and analysis of a novel continuous robust controller for a class of multi--input multi--output (MIMO) nonlinear uncertain systems. The systems under consideration contains unstructured uncertainties in…
For uncertain multiple inputs multi-outputs (MIMO) nonlinear systems, it is nontrivial to achieve asymptotic tracking, and most existing methods normally demand certain controllability conditions that are rather restrictive or even…
This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
Following Demidovich's concept and definition of convergent systems, we analyze the optimal nonlinear damping control, recently proposed [1] for the second-order systems. Targeting the problem of output regulation, correspondingly tracking…
We study control systems invariant under a Lie group with application to the problem of nonlinear trajectory planning. A theory of symmetry reduction of exterior differential systems is employed to demonstrate how symmetry reduction and…
Immersion and Invariance is a technique for the design of stabilizing and adaptive controllers and state observers for nonlinear systems. In all these applications the problem considered is the stabilization of equilibrium points. Motivated…
For systems that are not observable at the very equilibrium of interest to be stabilized, output-feedback stabilization is considerably challenging. In this paper we solve this control problem for the case-study of a second-order system…
Nonlinear control-affine systems with time-varying vector fields are considered in the paper. We propose a unified control design scheme with oscillating inputs for solving the trajectory tracking and stabilization problems. This…