Related papers: Generalizing Negative Imaginary Systems Theory to …
This paper covers recent developments in the theory of negative imaginary systems and their application to the control of highly resonant flexible structures. The theory of negative imaginary systems arose out of a desire to unify a number…
Negative imaginary (NI) systems theory is a well-established system theoretic framework for analysis and design of linear-time-invariant (LTI) control systems. In this paper, we aim to generalize negative imaginary systems theory to a class…
This paper presents a survey of recent results on the theory of negative imaginary systems. This theory can be applied to the robust control of large flexible structures with colocated force actuators and position sensors.
We propose a neural control method to provide guaranteed stabilization for mechanical systems using a novel negative imaginary neural ordinary differential equation (NINODE) controller. Specifically, we employ neural networks with desired…
This paper establishes absolute stability conditions for nonlinear negative imaginary (NI) systems interconnected with static nonlinear feedback. We first show that the NI property is preserved when the feedback nonlinearity can be…
This paper provides a protocol to address the robust output feedback consensus problem for networked heterogeneous nonlinear negative-imaginary (NI) systems with free body dynamics. We extend the definition of nonlinear NI systems to allow…
In this paper, we investigate the necessary and sufficient conditions under which a class of nonlinear systems are state feedback equivalent to nonlinear negative imaginary (NI) systems with positive definite storage functions. The…
This paper presents a velocity-free position control strategy for quadrotor unmanned aerial vehicles based on nonlinear negative imaginary (NNI) systems theory. Unlike conventional position control schemes that require velocity measurements…
A new definition of discrete-time negative imaginary (NI) systems is provided. This definition characterizes the dissipative property of a zero-order hold sampled continuous-time NI system. Under some assumptions, asymptotic stability can…
Converse negative imaginary theorems for linear time-invariant systems are derived. In particular, we provide necessary and sufficient conditions for a feedback system to be robustly stable against various types of negative imaginary (NI)…
This paper is concerned with stability conditions for the positive feedback interconnection of negative imaginary systems. A generalization of the negative imaginary lemma is derived, which remains true even if the transfer function has…
This paper provides a state feedback stabilization approach for nonlinear systems of relative degree less than or equal to two by rendering them nonlinear negative imaginary (NI) systems. Conditions are provided under which a nonlinear…
In this paper, we present a strictly negative imaginary state feedback control methodology for relative degree two negative imaginary systems such as flexible structures with collocated sensors and actuators. We show that by augmenting a…
In this study, we extend the theory of negative imaginary (NI) systems to a nonlinear framework using a frequency-domain approach. The extended notion is completely characterized via a finite-frequency integration over a "kernel function"…
The negative imaginary (NI) systems theory has attracted interests due to the robustness properties of feedback interconnected NI systems. However, a full output optimal controller-synthesis methodology, for such class of systems, is yet to…
In the transition to achieving net zero emissions, it has been suggested that a substantial expansion of electric power grids will be necessary to support emerging renewable energy zones. In this paper, we propose employing battery-based…
In this paper we lay the foundations of a not necessarily rational negative imaginary systems theory and its relations with positive real systems theory and, hence, with passivity. In analogy with the theory of positive real functions, in…
This paper presents some physical interpretations of recent stability results on the feedback interconnection of negative imaginary systems. These interpretations involve spring mass damper systems coupled together by springs or RLC…
In this paper, we extend nonlinear negative imaginary (NI) systems theory to switched systems. Switched nonlinear NI systems and switched nonlinear output strictly negative imaginary (OSNI) systems are defined. We show that the…
Quadrotors are one of the popular unmanned aerial vehicles (UAVs) due to their versatility and simple design. However, the tuning of gains for quadrotor flight controllers can be laborious, and accurately stable control of trajectories can…