Related papers: Observer-based boundary control of distributed por…
We discuss boundary control of a wave equation with a non-linear anti-damping boundary condition. We design structured finite-dimensional $H_\infty$-output feedback controllers which stabilize the infinite dimensional system exponentially…
Port-Hamiltonian systems result from port-based network modeling of physical systems and are an important example of passive state-space systems. In this paper, we develop the framework for model reduction of large-scale…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
This paper investigates the problem of data-driven modeling of port-Hamiltonian systems while preserving their intrinsic Hamiltonian structure and stability properties. We propose a novel neural-network-based port-Hamiltonian modeling…
We consider the joint problem of system identification and inverse optimal control for discrete-time stochastic Linear Quadratic Regulators. We analyze finite and infinite time horizons in a partially observed setting, where the state is…
Observer design for linear systems with aperiodic sampled-data measurements is addressed. To solve this problem, a novel hybrid observer is designed. The main peculiarity of the proposed observer consists of the use two output injection…
Port-Hamiltonian theory is an established way to describe nonlinear physical systems widely used in various fields such as robotics, energy management, and mechanical engineering. This has led to considerable research interest in the…
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…
In this paper we propose the design of an iterative observer using space as a time-like variable and prove its convergence. The iterative observer algorithm solves boundary estimation problem for a steady-state elliptic equation system…
Safety-critical cyber-physical systems require control strategies whose worst-case performance is robust against adversarial disturbances and modeling uncertainties. In this paper, we present a framework for approximate control and learning…
This paper presents a compositional framework for the construction of symbolic models for a network composed of a countably infinite number of finite-dimensional discrete-time control subsystems. We refer to such a network as infinite…
This paper deals with the observer design problem for time-varying linear infinite-dimensional systems. We address both the problem of online estimation of the state of the system from the output via an asymptotic observer, and the problem…
This article presents proposals for the design of reduced-order controllers for high-dimensional dynamical systems. The objective is to develop efficient control strategies that ensure stability and robustness with reduced computational…
This paper presents bilateral control laws for one-dimensional(1-D) linear 2x2 hyperbolic first-order systems (with spatially varying coefficients). Bilateral control means there are two actuators at each end of the domain. This situation…
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control and collision avoidance for multi-agent systems governed by…
Designing controllers to satisfy temporal requirements has proven to be challenging for dynamical systems that are affected by uncertainty. This is mainly due to the states evolving in a continuous uncountable space, the stochastic…
This paper presents a backstepping approach for the boundary control of first-order hyperbolic equations with spatially varying coefficients posed on domains of arbitrary dimension. The method is based on a change of variables induced by…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
In recent years, the distributed-observer-based distributed control law has shown powerful ability to arbitrarily approximate the centralized control performance. However, the traditional distributed observer requires each local observer to…
We derive an exact deterministic nonlinear observer to compute the continuous state of an inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction is used as the main analysis…