Related papers: Pole-placement in higher-order sliding-mode contro…
Using Dirac's approach to constrained dynamics, the Hamiltonian formulation of regular higher order Lagrangians is developed. The conventional description of such systems due to Ostrogradsky is recovered. However, unlike the latter, the…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
This paper presents an approach to systematically design sliding mode control and manifold to stabilize nonlinear uncertain systems. The objective is also accomplished to enlarge the inner bound of region of attraction for closed-loop…
This paper introduces a simulation preorder among lifted systems, a generalization of finite-dimensional Koopman approximations (also known as approximate immersions) to systems with inputs. It is proved that this simulation relation…
Trickle-down is a phenomenon in high-dimensional expanders with many important applications -- for example, it is a key ingredient in various constructions of high-dimensional expanders or the proof of rapid mixing for the basis exchange…
This paper revisits a classical challenge in the design of stabilizing controllers for nonlinear systems with a norm-bounded input constraint. By extending Lin-Sontag's universal formula and introducing a generic (state-dependent) scaling…
In this paper, we propose a framework for designing sliding mode controllers for a class of mechanical systems with symmetry, both unconstrained and constrained, that evolve on principal fiber bundles. Control laws are developed based on…
This paper extends sliding-mode control theory to nonlinear systems evolving on smooth manifolds. Building on differential geometric methods, we reformulate Filippov's notion of solutions, characterize well-defined vector fields on quotient…
This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in three-dimensional Euclidean space. Exploiting the Lie group structure of the resulting dynamical system, the…
This paper proposes a functional observer-based sliding mode control technique for position control of a single-link flexible manipulator. The proposed method considers the unmodelled system dynamics as uncertainty and aims to achieve…
In this paper, we generalize the integration rules for scattering equations to situations where higher-order poles are present. We describe the strategy to deduce the Feynman rules of higher-order poles from known analytic results of simple…
We study a novel general class of multidimensional type-I backward stochastic Volterra integral equations. Toward this goal, we introduce an infinite dimensional system of standard backward SDEs and establish its well-posedness, and we show…
The objective of this note is to share some reflections of the authors regarding the use of sliding mode designs in control systems. We believe the abundant, and ever increasing, appearance of this kind of works on our scientific…
In this paper, we propose a method to design state feedback harmonic control laws that assign the closed loop poles of a linear harmonic model to some desired locations. The procedure is based on the solution of an infinite-dimensional…
Pole-swapping algorithms are generalizations of bulge-chasing algorithms for the generalized eigenvalue problem. Structure-preserving pole-swapping algorithms for the palindromic and alternating eigenvalue problems, which arise in control…
This document introduces a generalization of calculus that treats both continuous and discrete variables on an equal footing. This generalization of calculus was developed independently of the "Calculus on Time Scales" literature but may be…
This paper studies eigenvalues of the buckling problem of arbitrary order on compact domains in Euclidean spaces and spheres. We prove universal bounds for the $k$-th eigenvalue in terms of the lower ones independent of the domains. Our…
This paper proposes fractional sliding control designs for single-degree-of-freedom fractional oscillators respectively of the Kelvin-Voigt type, the modified Kelvin-Voigt type and D\"{u}ffing type, whose dynamical behaviors are described…
This paper proposes a new adaptation methodology to find the control inputs for a class of nonlinear systems with time-varying bounded uncertainties. The proposed method does not require any prior knowledge of the uncertainties including…
We extend the theory of non-thermal fixed points to the case of anomalously slow universal scaling dynamics according to the sine-Gordon model. This entails the derivation of a kinetic equation for the momentum occupancy of the scalar field…