Related papers: Passivity Degradation In Discrete Control Implemen…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
The possibility of operating in remote environments using teleoperation systems has been considered widely in the control literature. This paper presents a review on the discrete-time teleoperation systems, including issues such as…
We prove the well-posedness of a linear closed-loop system with an explicit (already known) feedback leading to arbitrarily large decay rates. We define a mild solution of the closed-loop problem using a dual equation and we prove that the…
Many cyber-physical systems can naturally be formulated as switched systems with constrained switching. This includes systems where one of the signals in the feedback loop may be lost. Possible sources for losses are shared or unreliable…
Classical discrete-time adaptive controllers provide asymptotic stabilization. While the original adaptive controllers did not handle noise or unmodelled dynamics well, redesigned versions were proven to have some tolerance; however,…
The problem of designing a stabilizing feedback controller in the presence of saturating actuators and multi-rate (asynchronous) aperiodic state measurements is studied. Specifically, we consider a scenario in which measurements of the…
In this paper, we considered a design method of non-linear state feedback controller for input-affine non-linear system taking data losses into account. When data is lost in control system, control input is fixed to constant value or to the…
This paper introduces a novel approach to concurrently design dynamic controllers and correlated differential privacy noise in dynamic control systems. An increase in privacy noise increases the system's privacy but adversely affects the…
In this paper we propose a data-driven output-feedback controller synthesis method for discrete-time linear time-invariant systems in a specific autoregressive form. The synthesis goal is either to achieve dissipativity with respect to a…
We investigate with exact numerical calculation coherent control of a two-level quantum system's decay by subjecting the two-level system to many periodic ideal $2\pi$ phase modulation pulses. For three spectrum intensities (Gaussian,…
Control laws for continuous-time dynamical systems are most often implemented via digital controllers using a sample-and-hold technique. Numerical discretization of the continuous system is an integral part of subsequent analysis. Feedback…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
The varied and complex dynamics of real-world systems challenge the formulation of a systematic strategy for designing a stabilizing feedback law. Rather than taking a universal approach, the control strategies developed thus far to handle…
Neural networks modularity is a major challenge for the development of control circuits of neural activity. Under physiological limitations, the accessible regions for external stimulation are possibly different from the functionally…
In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…
The paper is considered with the dissipative theory and feedback control under the framework of dissipation with the supply rate is the inner product of input u and the derivation of output y for the linear/nonlinear time-invariant input…
The purpose of this report is to define abstractions for multi-agent systems under coupled constraints. In the proposed decentralized framework, we specify a finite or countable transition system for each agent which only takes into account…
In this paper, a uniform approach to maximal permissiveness in modular control of discrete-event systems is proposed. It is based on three important concepts of modular closed-loops: monotonicity, distributivity, and exchangeability.…
This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and closed-loop behaviors of a representative ACM are analyzed. The…
We study synchronization of nonlinear systems that satisfy an incremental passivity property. We consider the case where the control input is subject to a class of disturbances, including constant and sinusoidal disturbances with unknown…