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The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
Correlated with the trend of increasing degrees of freedom in robotic systems is a similar trend of rising interest in Spatio-Temporal systems described by Partial Differential Equations (PDEs) among the robotics and control communities.…
Space-time finite element discretizations of time-optimal control problems governed by linear parabolic PDEs and subject to pointwise control constraints are considered. Optimal a priori error estimates are obtained for the control variable…
In this paper, a quadratic optimal control problem is considered for second-order parabolic PDEs with homogeneous Dirichlet boundary conditions, in which the "point" control function (depending only on time) constitutes a source term. These…
This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…
The stabilization of nonautonomous parabolic equations is achieved by feedback inputs tuning a finite number of actuators, where it is assumed that the input is subject to a time delay. To overcome destabilizing effects of the time delay,…
This paper focuses on the problem of constructing time-varying feedback laws that asymptotically stabilize a given part of the state variables for nonlinear control-affine systems. It is assumed that the class of systems under consideration…
We consider the problem of output feedback regulationfor a linear first-order hyperbolic system with collocatedinput and output in presence of a general class of disturbancesand noise. The proposed control law is designed through…
This paper considers the optimization landscape of linear dynamic output feedback control with $\mathcal{H}_\infty$ robustness constraints. We consider the feasible set of all the stabilizing full-order dynamical controllers that satisfy an…
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a largely open challenge due to excessive computational…
Computing the receding horizon optimal control of nonlinear hybrid systems is typically prohibitively slow, limiting real-time implementation. To address this challenge, we propose a layered Model Predictive Control (MPC) architecture for…
This work proposes a new procedure for the stabilization of time-delay systems using Static Output Feedback (SOF) control. A previous convex optimization approach to SOF for Ordinary Differential Equations (ODEs) is extended to time-delay…
In this paper, a backstepping control of the one-phase Stefan Problem, which is a 1-D diffusion Partial Differential Equation (PDE) defined on a time varying spatial domain described by an ordinary differential equation (ODE), is studied. A…
This paper investigates the mean square exponential stabilization problem for a class of coupled PDE-ODE systems with Markov jump parameters. The considered system consists of multiple coupled hyperbolic PDEs and a finite-dimensional ODE,…
We present a novel methodology for designing output-feedback backstepping boundary controllers for an unstable 1-D diffusion-reaction partial differential equation with spatially-varying reaction. Using "folding" transforms the parabolic…
This paper addresses the challenge of time-inconsistent stochastic control within a continuous-time framework. Its primary focus lies in uncovering a probabilistic representation, specifically in the shape of a system of backward stochastic…
This paper presents a control methodology for achieving orbital stabilization with simultaneous time synchronization of periodic trajectories in underactuated robotic systems. The proposed approach extends the classical transverse…
This paper investigates the stability and stabilization of semilinear single-track vehicle models with distributed tire friction dynamics, modeled as interconnections of ordinary differential equations (ODEs) and hyperbolic partial…
This paper examines the impulse controllability of degenerate singular parabolic equations through a modern framework focused on finite-time stabilization. Furthermore, we provide an explicit estimate for the exponential decay of the…
This paper is devoted to the study of hyperbolic systems of linear partial differential equations perturbed by a Brownian motion. The existence and uniqueness of solutions are proved by an energy method. The specific features of this class…