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This paper investigates the trajectory tracking problem of underactuated marine vessels within a polar coordinate framework. By introducing two polar coordinate transformations (PCTs), the original two-input-three-output second-order…
In this paper, we consider the feedback stabilization problem for N-level quantum angular momentum systems undergoing continuous-time measurements. By using stochastic and geometric control tools, we provide sufficient conditions on the…
Despite their abundance in robotics and nature, underactuated systems remain a challenge for control engineering. Trajectory optimization provides a generally applicable solution, however its efficiency strongly depends on the skill of the…
There exist many ways to stabilize an infinite-dimensional linear autonomous control systems when it is possible. Anyway, finding an exponentially stabilizing feedback control that is as simple as possible may be a challenge. The Riccati…
We study sequences (both cyclic and randomized) of idempotent completely-positive trace-preserving quantum maps, and show how they asymptotically converge to the intersection of their fixed point sets via alternating projection methods. We…
For a class of uncertain systems, a non-overshooting sliding mode control is presented to make them globally exponentially stable and without overshoot. Even when the unknown stochastic disturbance exists, and the time-variant reference…
This paper presents a controller design and optimization framework for nonlinear dynamic systems to track a given reference signal in the presence of disturbances when the task is repeated over a finite-time interval. This novel framework…
We consider the problem of shaping the transient step response of nonlinear systems to satisfy a class of integral constraints. Such constraints are inherent in hybrid energy systems consisting of energy sources and storage elements. While…
This paper addresses the design of finite-dimensional feedback control laws for linear discrete-time fractional-order systems with additive state disturbance. A set of sufficient conditions are provided to guarantee convergence of the state…
The scope of inverted pendulum has been widely studied as one of the notable research with respect to standing in balance. The concept of this pendulum is similar to missile guidance, meaning that the center of drag is ahead that of…
We develop a feedback control framework for stabilizing the McKean-Vlasov PDE on the torus. Our goal is to steer the dynamics toward a prescribed stationary distribution or accelerate convergence to it using a time-dependent control…
We suggest a spatially local feedback mechanism for stabilizing periodic orbits in spatially extended systems. Our method, which is based on a comparison between present and past states of the system, does not require the external…
Results on the problem of stabilizing a nonlinear continuous-time system by a finite number of control or measurement values are presented. The basic tool is a discontinuous version of the so-called semi-global backstepping lemma. We derive…
A control design approach is developed for a general class of uncertain strict-feedback-like nonlinear systems with dynamic uncertain input nonlinearities with time delays. The system structure considered in this paper includes a nominal…
The problem of stabilization of a system of coupled PDEs of the forth-order by means of boundary control is investigated. The considered setup arises from the classical Euler-Bernoulli beam model, and constitutes a generalization of…
The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…
This paper applies geometric PID control for asymptotic tracking of a desired trajectory by a hoop robot in the presence of disturbances and uncertainties. The hoop robot, consisting of a circular body rolling without slip along a…
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…
It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…
Applying linear controllers to nonlinear systems requires the dynamical linearization about a reference. In highly nonlinear environments such as cislunar space, the region of validity for these linearizations varies widely and can…