Related papers: Passivity Degradation In Discrete Control Implemen…
The key idea behind PID Passivity-based Control (PID-PBC) is to leverage the passivity property of PIDs (for all positive gains) and wrap the PID controller around a passive output to ensure global stability in closed-loop. However, the…
We address the problem of dynamic output feedback stabilization at an unobservable target point. The challenge lies in according the antagonistic nature of the objective and the properties of the system: the system tends to be less…
This paper explores the properties of adaptive systems with closed-loop reference models. Using additional design freedom available in closed-loop reference models, we design new adaptive controllers that are (a) stable, and (b) have…
This abstract describes the first public demonstration of feedback control and coordination of multiple physical systems over a dynamic multi-hop low-power wireless network with update intervals of tens of milliseconds. Our running system…
Predictor-based stabilization results are provided for nonlinear systems with input delays and a compact absorbing set. The control scheme consists of an inter-sample predictor, a global observer, an approximate predictor, and a nominal…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
The recent rapid proliferation of renewable energy is fundamentally changing the dynamic operations of power systems, necessitating new approaches to assess stability for these highly nonlinear systems. In this paper, we prove that…
This manuscript introduces a passivity-based control methodology for fully-actuated mechanical systems with symmetric or asymmetric dead-zones. To this end, we find a smooth approximation of the inverse of the function that describes such a…
Boundary feedback control design is studied for 1D hyperbolic systems with an in-domain disturbance and a boundary feedback controller under the effect of actuator saturation. Nonlinear semigroup theory is used to prove well-posedness of…
Finite-state abstractions (a.k.a. symbolic models) present a promising avenue for the formal verification and synthesis of controllers in continuous-space control systems. These abstractions provide simplified models that capture the…
In this paper, we propose a suboptimal and reduced-order Model Predictive Control (MPC) architecture for discrete-time feedback-interconnected systems. The numerical MPC solver: (i) acts suboptimally, performing only a finite number of…
Living organisms interact with their surroundings in a closed-loop fashion, where sensory inputs dictate the initiation and termination of behaviours. Even simple animals are able to develop and execute complex plans, which has not yet been…
We consider the problem of approximating discrete-time plants with finite-valued sensors and actu- ators by deterministic finite memory systems for the purpose of certified-by-design controller synthesis. Building on ideas from robust…
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…
We introduce a new closed-loop architecture for the online solution of approximate optimal control problems in the context of continuous-time systems. Specifically, we introduce the first algorithm that incorporates dynamic momentum in…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
We revisit the problem of computing (robust) controlled invariant sets for discrete-time linear systems. Departing from previous approaches, we consider implicit, rather than explicit, representations for controlled invariant sets.…
We investigate input-to-state stability (ISS) of infinite-dimensional collocated control systems subject to saturated feedback. Here, the unsaturated closed loop is dissipative and uniformly globally asymptotically stable. Under an…
We propose an encoding and control strategy for the stabilization of switched systems with limited information, supposing the controller is given for each mode. Only the quantized output and the active mode of the plant at each sampling…
In this paper, we develop a data-based controller design framework for diffusively coupled systems with guaranteed convergence to an $\epsilon$-neighborhood of the desired formation. The controller is comprised of a fixed controller with an…