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Endowing nonlinear systems with safe behavior is increasingly important in modern control. This task is particularly challenging for real-life control systems that must operate safely in dynamically changing environments. This paper…
In this paper, stability analysis of time delay systems is considered based on decomposition of the systems to subsystems. The decomposition process needs matrices of these systems to be simultaneously block triangularize. We show that a…
This study focuses on event-triggered control of nonlinear discrete-time systems with time delays. Based on a Lyapunov-Krasovskii type input-to-state stability result, we propose a novel event-triggered control algorithm that works as…
Airborne wind energy systems aim to generate renewable energy by means of the aerodynamic lift produced by a wing tethered to the ground and controlled to fly crosswind paths. The problem of maximizing the average power developed by the…
We introduce the map representation of a time-delayed system in the presence of delay time modulation. Based on this representation, we find the method by which to analyze the stability of that kind of a system. We apply this method to a…
Mathematical modeling based on time-delay differential equations is an important tool to study the role of delay in biological systems and to evaluate its impact on the asymptotic behavior of their dynamics. Delays are indeed found in many…
Delay-coordinate maps have been widely used recently to study nonlinear dynamical systems, where there is only access to the time series of one of their variables. Here, we show how the partial control method can be applied in this kind of…
Feedback control (based on the quantum continuous measurement) of quantum systems inevitably suffers from estimation delays. In this paper we give a delay-dependent stability criterion for a wide class of nonlinear stochastic systems…
This work presents the first closed-loop control framework for cooperative payload transportation with non-stopping flying carriers. The proposed method includes a feedback wrench-controller that actively regulates the load's pose by…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
Recently we studied communication delay in distributed control of untimed discrete-event systems based on supervisor localization. We proposed a property called delay-robustness: the overall system behavior controlled by distributed…
Iterative linear quadradic regulator(iLQR) has become a benchmark method to deal with nonlinear stochastic optimal control problem. However, it does not apply to delay system. In this paper, we extend the iLQR theory and prove new theorem…
This paper presents the development of a comprehensive dynamics and stabilizing control architecture for Tethered Unmanned Aerial Vehicle (TUAV) systems. The proposed architecture integrates both onboard and ground-based controllers,…
Due to simplicity and strong stability guarantees, predictor feedback methods have stood as a popular approach for time delay systems since the 1950s. For time-varying delays, however, implementation requires computing a prediction horizon…
The purpose of this article is to introduce the original results which devoted with the nonlinear control system problems involves of nonlinear differential equations of fractional orders. Thus, this system is described with a mixed of…
The task of determining the origin of a drifting object after it has been located is highly complex due to the uncertainties in drift properties and environmental forcing (wind, waves and surface currents). Usually the origin is inferred by…
The location of roots of the characteristic equation of a linear delay differential equation (DDE) determines the stability of the linear DDE. However, by its transcendency, there is no general criterion on the contained parameters for the…
When a chaotic system is to be stabilized to a unstable orbit, delayed measurement of the system limits the applicability of chaos control techniqes. These limitations are analyzed and control schemes as linear predictive logging control…
This MS thesis outlines my contributions to the closed loop control and system integration of two robotic platforms: 1) Aerobat, a flapping wing robot stabilized by air jets, and 2) Harpy, a bipedal robot equipped with dual thrusters. Both…
In this paper, we analyse the impact of delayed event detection on the stability of a 2-mode planar hybrid automata. We consider hybrid automata with a unique equilibrium point for all the modes, and we find the maximum delay that preserves…