Related papers: Relaxed and hybridized backstepping
The stability of linear dynamic systems with hysteresis in feedback is considered. While the absolute stability for memoryless nonlinearities (known as Lure's problem) can be proved by the well-known circle criterion, the multivalued…
Backstepping is a mature and powerful Lyapunov-based design approach for a specific set of systems. Throughout the development over three decades, innovative theories and practices have extended backstepping to stabilization and tracking…
This paper presents a methodology to stabilize some kind of Nonlinear Control system known as Driftless, utilizing the concept of \textit{Pseudo-Kinetic Energy} introduced in this work. Once this controller is applied to the Unicycle-type…
We introduce two new tools that can be useful in nonlinear observer and output feedback design. The first one is a simple extension of the notion of homogeneous approximation to make it valid both at the origin and at infinity (homogeneity…
We develop an input delay-compensating feedback law for linear switched systems with time-dependent switching. Because the future values of the switching signal, which are needed for constructing an exact predictor-feedback law, may be…
The design of controllers from data for nonlinear systems is a challenging problem. In a recent paper, De Persis, Rotulo and Tesi, "Learning controllers from data via approximate nonlinearity cancellation," IEEE Transactions on Automatic…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…
In the present work, sufficient conditions for global stabilization of nonlinear uncertain systems by means of discrete-delay static output feedback are presented. Illustrating examples show the efficiency of the proposed control strategy.
This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and $ \mathcal{L}_2 $-gain performance with respect to a user-defined set of reference…
This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…
This paper addresses the resilience of large-scale closed-loop structured systems in the sense of arbitrary pole placement when subject to failure of feedback links. Given a structured system with input, output, and feedback matrices, we…
In this paper, we study the event-triggered global robust practical output regulation problem for a class of nonlinear systems in output feedback form with any relative degree. Our approach consists of the following three steps. First, we…
Even for known nonlinear dynamical systems, feedback controller synthesis is a difficult problem that often requires leveraging the particular structure of the dynamics to induce a stable closed-loop system. For general nonlinear models,…
This paper investigates the problem of data-driven stabilization for linear discrete-time switched systems with unknown switching dynamics. In the absence of noise, a data-based state feedback stabilizing controller can be obtained by…
We study a nonlinear, non-autonomous feedback controller applied to boundary control systems. Our aim is to track a given reference signal with prescribed performance. Existence and uniqueness of solutions to the resulting closed-loop…
-This work addresses output feedback stabilization via event triggered output feedback. In the first part of the paper, linear systems are considered, whereas the second part shows that a dynamic event triggered output feedback control law…
We study the problem of controlling oscillations in closed loop by combining positive and negative feedback in a mixed configuration. We develop a complete design procedure to set the relative strength of the two feedback loops to achieve…
Relaxed conditions are given for stability of a feedback system consisting of an exponentially stable multi-input multi-output nonlinear plant and an integral controller. Roughly speaking, it is shown that if the composition of the plant…
In this study, we present a novel sliding mode safety-critical controller designed to address both stability and safety concerns in a class of nonlinear uncertain systems. The controller features two feedback loops: an inner loop designed…