Related papers: On Event Triggered Tracking for Nonlinear Systems
This work presents an event-triggered controller for spacecraft rendezvous hovering phases. The goal is to maintain the chaser within a bounded region with respect to the target. The main assumption is that the chaser vehicle has impulsive…
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as an optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a nonholonomic…
We propose a distributed event-triggered control law to solve the consensus problem for multi-agent systems with nonlinear output. Under the condition that the underlying digraph is strongly connected, we propose some sufficient conditions…
In this paper, we propose a new aperiodic formulation of model predictive control for nonlinear continuous-time systems. Unlike earlier approaches, we provide event-triggered conditions without using the optimal cost as a Lyapunov function…
This paper proposes an event-triggered control scheme for multivariable extremum seeking of static maps. Both static and dynamic triggering conditions are developed. Integrating Lyapunov and averaging theories for discontinuous systems, a…
This paper studies impulsive stabilization of nonlinear systems. We propose two types of event-triggering algorithms to update the impulsive control signals with actuation delays. The first algorithm is based on continuous event detection,…
In this paper we address the problem of tracking control of nonlinear systems via contraction analysis. The necessary conditions of the systems which can achieve universal asymptotic tracking are studied under several different cases. We…
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…
This thesis investigates optimal trajectory tracking of nonlinear dynamical systems with affine controls. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible. The concept of…
This paper presents a control method and trajectory planner for vehicles with first-order nonholonomic constraints that guarantee asymptotic convergence to a time-indexed trajectory. To overcome the nonholonomic constraint, a fixed point in…
In this paper, we present a model-based periodic event-triggered control mechanism for nonlinear continuous-time Networked Control Systems. A sampled-data prediction of the system behavior is used at the actuator to reduce the amount of…
The design of tracking controllers that closely follow a reference trajectory while ensuring safety and robustness against disturbances is a challenging problem in the control of autonomous systems. In this work, we propose a neural…
In this paper, the problem of tracking a given reference output trajectory is investigated for the class of Boolean control networks, by resorting to their algebraic representation. First, the case of a finite-length reference trajectory is…
We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
Trajectory tracking of nonlinear dynamical systems with affine open-loop controls is investigated. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible. We introduce exactly…
In this paper, we investigate the optimal output tracking problem for linear discrete-time systems with unknown dynamics using reinforcement learning and robust output regulation theory. This output tracking problem only allows to utilize…
This paper presents a control technique for output tracking of reference signals in continuous-time dynamical systems. The technique is comprised of the following three elements: (i) output prediction which has to track the reference…
This paper addresses the problem of event-triggered control for infinite-dimensional systems. We employ event-triggering mechanisms that compare the plant state and the error of the control input induced by the event-triggered…
This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…