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This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs. As customarily in passivity-based…
This paper studies the boundary feedback stabilization of a class of diagonal infinite-dimensional boundary control systems. In the studied setting, the boundary control input is subject to a constant delay while the open loop system might…
We investigate team optimal control of stochastic subsystems that are weakly coupled in dynamics (through the mean-field of the system) and are arbitrary coupled in the cost. The controller of each subsystem observes its local state and the…
In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in quadrotor systems, there is an ``uncontrolled drift" of the…
This paper considers a spin chain model by numerically solving the exact model to explore the non-perturbative dynamical decoupling regime, where an important issue arises recently (J. Jing, L.-A. Wu, J. Q. You and T. Yu, arXiv:1202.5056.).…
This paper presents a kinematically constrained planar hybrid cable-driven parallel robot (HCDPR) for warehousing applications as well as other potential applications such as rehabilitation. The proposed HCDPR can harness the strengths and…
This paper presents a nonlinear control framework for steering networks of coupled oscillators toward desired phase-locked configurations. Inspired by brain dynamics, where structured phase differences support cognitive functions, the focus…
In dynamical systems theory, a fixed point of the dynamics is called nonhyperbolic if the linearization of the system around the fixed point has at least one eigenvalue with zero real part. The center manifold existence theorem guarantees…
This research proposes an innovative approach to detumble satellites' triple-axis angular velocities with only one single-axis magnetic torquer. Since magnetic torque is generated perpendicularly to magnetorquers, no intended control torque…
We consider the problem of output feedback stabilization in linear systems when the measured outputs and control inputs are subject to event-triggered sampling and dynamic quantization. A new sampling algorithm is proposed for outputs which…
This paper investigates the synthesis of distributed economic control algorithms under which dynamically coupled physical systems are regulated to a variational equilibrium of a constrained convex game. We study two complementary cases: (i)…
This work studies the null controllability of a system of coupled parabolic PDEs. In particular, our work specializes to an important subclass of these control problems which are coupled by first and zero-order couplings and are,…
In this paper, we consider networked systems comprised of interconnected sets of linear subsystems and propose a decentralized and compositional approach to stabilize or dissipativate such linear networked systems via optimally modifying…
We propose a general procedure for implementing dynamical decoupling without requiring arbitrarily strong, impulsive control actions. This is accomplished by designing continuous decoupling propagators according to Eulerian paths in the…
This article proposes a distributed secondary control scheme that drives a dc microgrid to an equilibrium point where the generators share optimal currents, and their voltages have a weighted average of nominal value. The scheme does not…
Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…
The way in which electric power depends on the topology of circuits with mixed voltage and current sources is examined. The power flowing in any steady-state DC circuit is shown to depend on a minimal set of key variables called fundamental…
The loss of coherence is one of the main obstacles for the implementation of quantum information processing. The efficiency of dynamical decoupling schemes, which have been introduced to address this problem, is limited itself by the…
This paper presents a new method for dynamic output feedback stabilizing controller design for decomposable systems with switching topology and delay. Our approach consists of two steps. In the first step, we model the decomposable systems…
Finding conditions that support synchronization is a fertile and active area of research with applications across multiple disciplines. Here we present and analyze a scheme for synchronizing chaotic dynamical systems by transiently…