Related papers: Pole-placement in higher-order sliding-mode contro…
The classical eigenvalue assignment problem is revisited in this note. We derive an analytic expression for pole placement which represents a slight generalization of the celebrated Bass-Gura and Ackermann formulae, and also is closely…
It is often unnoticed that the predominant way to use collocation methods is fundamentally flawed when applied to optimal control in robotics. Such methods assume that the system dynamics is given by a first order ODE, whereas robots are…
This paper presents a generalization of conventional sliding mode control designs for systems in Euclidean spaces to fully actuated simple mechanical systems whose configuration space is a Lie group for the trajectory-tracking problem. A…
The generalized-$\alpha$ method encompasses a wide range of time integrators. The method possesses high-frequency dissipation while minimizing unwanted low-frequency dissipation and the numerical dissipation can be controlled by the user.…
We present an extension of state-feedback pole placement for quaternionic systems, based on companion forms and the Ackermann formula. For controllable single-input quaternionic LTI models, we define a companion polynomial that annihilates…
With the development of the space missions, there are extensive missions in the demand of the prescribed time convergence. However, it is still a difficult work to combine the prescribed time method with the sliding mode control due to the…
We are able to derive the equations of motion for forced mechanical systems in a purely variational setting, both in the context of Lagrangian or Hamiltonian mechanics, by duplicating the variables of the system as introduced by Galley…
We consider a space-time variational formulation of the second-order wave equation, where integration by parts is also applied with respect to the time variable. Conforming tensor-product finite element discretisations with piecewise…
We present generalizations of the spin Sutherland systems obtained earlier by Blom and Langmann and by Polychronakos in two different ways: from SU(n) Yang--Mills theory on the cylinder and by constraining geodesic motion on the N-fold…
The exact pole placement problem concerns computing a feedback gain that will assign the poles of a system, controlled via static state feedback, at a set of pre-specified locations. This is a classic problem in feedback control and…
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…
In the present paper, we present and solve the sliding mode control (SMC) problem for a second-order generalization of the Caginalp phase-field system. This generalization, inspired by the theories developed by Green and Naghdi on one side,…
We reconsider the variational integration of optimal control problems for mechanical systems based on a direct discretization of the Lagrange-d'Alembert principle. This approach yields discrete dynamical constraints which by construction…
This article presents proposals for the design of reduced-order controllers for high-dimensional dynamical systems. The objective is to develop efficient control strategies that ensure stability and robustness with reduced computational…
We propose a sliding surface for systems on the Lie group $SO(3)\times \mathbb{R}^3$ . The sliding surface is shown to be a Lie subgroup. The reduced-order dynamics along the sliding subgroup have an almost globally asymptotically stable…
In this paper, we show that for discrete time-varying linear control systems uniform complete controllability implies arbitrary assignability of dichotomy spectrum of closed-loop systems. This result significantly strengthens the result in…
In this paper, we develop and analyze an integral fixed-time sliding mode control method for a scenario in which the system model is only partially known, utilizing Gaussian processes. We present two theorems on fixed-time convergence. The…
This paper designs a servo control system based on sliding mode control for the shape control of elastic objects. In order to solve the effect of non-smooth and asymmetric control saturation, a Gaussian-based continuous differentiable…
We propose a forward-backward splitting dynamical system for solving inclusion problems of the form $0\in A(x)+B(x)$ in Hilbert spaces, where $A$ is a maximal operator and $B$ is a single-valued operator. Involved operators are assumed to…
We propose a new class of high-order time-marching schemes with dissipation user-control and unconditional stability for parabolic equations. High-order time integrators can deliver the optimal performance of highly-accurate and robust…