Related papers: Output Regulation for Systems on Matrix Lie-group
This paper presents an approach that employs log-linearization in Lie group theory and the Newton-Euler equations to derive exact linear error dynamics for a multi-rotor model, and applies this model with a novel log-linear dynamic…
We consider the problem of cooperative output regulation for linear multi-agent systems. A distributed dynamic output feedback design method is presented that solves the cooperative output regulation problem and also ensures that all agents…
Controlling marine vehicles in challenging environments is a complex task due to the presence of nonlinear hydrodynamics and uncertain external disturbances. Despite nonlinear model predictive control (MPC) showing potential in addressing…
In this paper, the problem of reaching formation for a network of rigid agents over a special orthogonal group is investigated by considering bearing-only constraints as the desired formation. Each agent is able to gather the measurements…
In this paper we consider output controllability for linear time-invariant systems. In a recent paper by Danhane, Loh{\'e}ac and Jungers it has been pointed out that although output controllability is a classical notion in control theory,…
In this document the author proves that several problems in data-driven numerical approximation of dynamical systems in $\mathbb{C}^n$, can be reduced to the computation of a family of constrained matrix representations of elements of the…
This paper considers the problem of output feedback control for non-square multi-input multi-output systems with arbitrary relative degree. The proposed controller, based on the L1 adaptive control architecture, is designed using the right…
This article revisits the importance of the internal model principle in the literature of regulation and synchronization. Trajectory regulation, the task of regulating continuous-time signals generated by differential equations, is…
In a paper by Willems and coauthors it was shown that persistently exciting data can be used to represent the input-output behavior of a linear system. Based on this fundamental result, we derive a parametrization of linear feedback systems…
Linear systems on Lie groups are a natural generalization of linear system on Euclidian spaces. For such systems, this paper studies controllability by taking in consideration the eigenvalues of an associated derivation D. When the state…
This paper considers the cooperative output regulation problem for linear multi-agent systems with a directed communication graph, heterogeneous linear subsystems, and an exosystem whose output is available to only a subset of subsystems.…
In an open-loop experiment, an input sequence is applied to an unknown linear time-invariant system (in continuous or discrete time) affected also by an unknown-but-bounded disturbance sequence (with an energy or instantaneous bound); the…
Besides parametric uncertainties and disturbances, the unmodeled dynamics and time delay at the input are often present in practical systems, which cannot be ignored in some cases. This paper aims to solve output feedback tracking control…
Most of the rigid-body systems which evolve on nonlinear Lie groups where Euclidean control designs lose geometric meaning. In this paper, we introduce a log-linear backstepping control law on SE2(3) that preserves full…
The present paper addresses the problem of existence of an (output) feedback law to the purposes of asymptotically steering to zero a given controlled variable, while keeping all state variables bounded, for any initial conditions in a…
This paper is concerned with the cooperative output regulation problem for a network of agents with different dynamics described by parabolic PDEs subject to spatially- and time-varying parameters. Firstly, a networked controller is…
This paper considers the synchronized output regulation (SOR) problem of nonlinear multi-agent systems with switching graph. The SOR means that all agents regulate their outputs to synchronize on the output of a predefined common exosystem.…
This work presents a novel algorithm for impulsive optimal control of linear time-varying systems with the inclusion of input magnitude constraints. Impulsive optimal control problems, where the optimal input solution is a sum of delta…
The paper continues the authors' study of the linearizability problem for nonlinear control systems. In the recent work [K. Sklyar, Systems Control Lett. 134 (2019), 104572], conditions on mappability of a nonlinear control system to a…
We address modeling and control of a gate access automation system. A model of the mechatronic system is derived and identified. Then an approximate explicit feedback linearization scheme is proposed, which ensures almost linear response…