Related papers: A Global Steering Method for Nonholonomic Systems
Modern aircraft are designed with redundant control effectors to cater for fault tolerance and maneuverability requirements. This leads to aircraft being over-actuated and requires control allocation schemes to distribute the control…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from…
The paper investigates nonlinear system identification using system output data at various linearized operating points. A feed-forward multi-layer Artificial Neural Network (ANN) based approach is used for this purpose and tested for two…
This note presents an extension to the adaptive control strategy presented in [1] able to counter eventual instability due to disturbances at the input of an otherwise $\mathcal{L}_2$ stable closed-loop system. These disturbances are due to…
The purpose of this paper is to show that, at least for Lagrangians of mechanical type, nonholonomic Euler-Lagrange equations for a nonholonomic linear constraint D may be viewed as non-constrained Euler-Lagrange equations but on a new…
Hamiltonian systems with linearly dependent constraints (irregular systems), are classified according to their behavior in the vicinity of the constraint surface. For these systems, the standard Dirac procedure is not directly applicable.…
This paper presents a new model-based algorithm that computes predictive optimal controls on-line and in closed loop for traditionally challenging nonlinear systems. Examples demonstrate the same algorithm controlling hybrid impulsive,…
This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…
Iterative Learning Control (ILC) can achieve perfect tracking performance for mechatronic systems. The aim of this paper is to present an ILC design tutorial for industrial mechatronic systems. First, a preliminary analysis reveals the…
For homogeneous bilinear control systems, the control sets are characterized using a Lie algebra rank condition for the induced systems on projective space. This is based on a classical Diophantine approximation result. For affine control…
Stabilizing controller design and region of attraction (RoA) estimation are essential in nonlinear control. Moreover, it is challenging to implement a control Lyapunov function (CLF) in practice when only partial knowledge of the system is…
This paper studies the solution of nonsymmetric linear systems by preconditioned Krylov methods based on the normal equations, LSQR in particular. On some examples, preconditioned LSQR is seen to produce errors many orders of magnitude…
This paper proposes a general incremental policy iteration adaptive dynamic programming (ADP) algorithm for model-free robust optimal control of unknown nonlinear systems. The approach integrates recursive least squares estimation with…
Mathematical models for flow and reactive transport in porous media often involve non-linear, degenerate parabolic equations. Their solutions have low regularity, and therefore lower order schemes are used for the numerical approximation.…
This paper deals with the stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…
The paper considers a motion control problem for kinematic models of nonholonomic wheeled systems. The class of maneuverable wheeled systems is defined consisting of systems that can follow any sufficiently smooth non-stop trajectory on the…
Control-based continuation (CBC) is a general and systematic method to explore the dynamic response of a physical system and perform bifurcation analysis directly during experimental tests. Although CBC has been successfully demonstrated on…
Nonholonomic systems are, so to speak, mechanical systems with a prescribed restriction on the velocities. A virtual nonholonomic constraint is a controlled invariant distribution associated with an affine connection mechanical control…
In this paper, we consider controlling a class of single-input-single-output (SISO) commensurate fractional-order nonlinear systems with parametric uncertainty and external disturbance. Based on backstepping approach, an adaptive controller…