Related papers: Hybrid Systems and Control With Fractional Dynamic…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
We consider third-order dynamic systems which have an integral feedback action and discontinuous relay disturbance. More specifically for the applications, the focus is on the integral plus state-feedback control of the motion systems with…
We explore a field theoretical approach to quantum computing and control. This book consists of three parts. The basics of systems theory and field theory are reviewed in Part I. In Part II, a gauge theory is reinterpreted from a systems…
Models involving hybrid systems are versatile in their application but difficult to optimize efficiently due to their combinatorial nature. This work presents a method to cope with hybrid optimal control problems which, in contrast to…
In the first part of the paper, we consider a discrete-time stochastic control system. We show that, under certain conditions, the set of random occupational measures generated by the state-control trajectories of the system as well as the…
Partial control is a technique used in systems with transient chaos. The aim of this control method is to avoid the escape of the orbits from a region Q of the phase space where the transient chaotic dynamics takes place. This technique is…
A class of optimal control problems of hybrid nature governed by semilinear parabolic equations is considered. These problems involve the optimization of switching times at which the dynamics, the integral cost, and the bounds on the…
The literature is rich with studies, analyses, and examples on parameter estimation for describing the evolution of chaotic dynamical systems based on measurements, even when only partial information is available through observations.…
We illustrate a technique for specifying piecewise constant controls for classes of switched electrical networks, typically used in converting power in a dc-dc converter. This procedure makes use of decompositions of SU(2) to obtain…
Current engineering design trends, such as light-weight machines and humanmachine-interaction, often lead to underactuated systems. Output trajectory tracking of such systems is a challenging control problem. Here, we use a twodesign-degree…
This paper is concerned with model reference adaptive controller design for a class of nonlinear fractional order systems. Recent works on this topic rarely include direct methods and they are mostly based on indirect methods where the…
This Ph.D. thesis is divided in two parts. The first one concerns the equilibrium properties of glassy systems. Some aspects of the phenomenology of glasses and of theories attempting to describe them are reviewed in chapter 1. A study of…
We review recent results obtained to solve fractional order optimal control problems with free terminal time and a dynamic constraint involving integer and fractional order derivatives. Some particular cases are studied in detail. A…
Predictive Feedback Control is an easy-to-implement method to stabilize unknown unstable periodic orbits in chaotic dynamical systems. Predictive Feedback Control is severely limited because asymptotic convergence speed decreases with…
The paper introduces a Data-driven Hierarchical Control (DHC) structure to improve performance of systems operating under the effect of system and/or environment uncertainty. The proposed hierarchical approach consists of two parts: 1) A…
This paper presents the design and analysis of a Hybrid High-Order (HHO) approximation for a distributed optimal control problem governed by the Poisson equation. We propose three distinct schemes to address unconstrained control problems…
This paper looks at frequency domain design of a fractional order (FO) PID controller for an Automatic Voltage Regulator (AVR) system. Various performance criteria of the AVR system are formulated as system norms and is then coupled with an…
Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…
In this paper a novel hybrid position/force control with autonomous switching between both control modes is introduced for hydraulic actuators. A hybrid position/force control structure with feed-forwarding, full-state feedback, including…
The study of controlled hybrid systems requires practical tools for approximation and comparison of system behaviors. Existing approaches to these problems impose undue restrictions on the system's continuous and discrete dynamics.…