Related papers: On Event Triggered Tracking for Nonlinear Systems

With the unceasing growth of intelligent production lines that integrate sensors, actuators, and controllers in a wireless communication environment via internet of things (IoT), we design an event-triggered boundary controller for a…

This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…

In this paper, we develop the extremum-seeking approach to generate admissible trajectories in a neighborhood of a given reference curve in the state space. The cost function of the problem represents the distance between the current system…

In this paper, we investigate the stabilization of a nonlinear plant subject to network constraints, under the assumption of partial knowledge of the plant state. The event triggered paradigm is used for the observation and the control of…

Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking…

We present a novel technique to drive a nonlinear system to reach a target state under input constraints. The proposed controller consists only of piecewise constant inputs, generated from a simple linear driftless approximation to the…

This work is concerned with developing a data-driven approach for learning control barrier certificates (CBCs) and associated safety controllers for discrete-time nonlinear polynomial systems with unknown mathematical models, guaranteeing…

Driven by the flexible manufacturing trend in the process control industry and the uncertain nature of chemical process models, this article aims to achieve offset-free tracking for a family of uncertain nonlinear systems (e.g., using…

We present a data-based approach to design event-triggered state-feedback controllers for unknown continuous-time linear systems affected by disturbances. By an event, we mean state measurements transmission from the sensors to the…

We address the problem of output reference tracking for unknown non-linear multi-input, multi-output systems described by functional differential equations. This class of systems includes those with a strict relative degree, and…

We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…

This paper presents a controller design and optimization framework for nonlinear dynamic systems to track a given reference signal in the presence of disturbances when the task is repeated over a finite-time interval. This novel framework…

In this paper, we solve the problem of finding a certified control policy that drives a robot from any given initial state and under any bounded disturbance to the desired reference trajectory, with guarantees on the convergence or bounds…

This paper studies periodic event-triggered networked control for nonlinear systems, where the plants and controllers are connected by multiple independent communication channels. Several network-induced imperfections are considered…

Event-triggered networked control of a linear dynamical system is investigated. Specifically, the dynamical system and the controller are assumed to be connected through a communication channel. State and control input information packets…

We present a hierarchical architecture to improve the efficiency of event-triggered control (ETC) in reducing resource consumption. This paper considers event-triggered systems generally as an impulsive control system in which the objective…

This paper proposes a procedure to control an uncertain discrete-time networked control system through a limited stabilizing input information. The system is primarily affected by the time-varying, norm bounded, mismatched parametric…

Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…

This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…

In this paper, we propose a discontinuous distributed model-independent algorithm for a directed network of Euler-Lagrange agents to track the trajectory of a leader with non-constant velocity. We initially study a fixed network and show…