Related papers: A Lyapunov Approach to Barrier-Function Based Time…
This paper investigates the stability properties and performance of super-twisting sliding-mode control loops subject to periodic perturbations. Although there exist conditions on the control gains that guarantee finite-time stability of…
We present a new continuous Lyapunov Redesign (LR) methodology for the robust stabilization of a class of uncertain time-delay systems that is based on the so-called Super Twisting Algorithm. The main feature of the proposed approach is…
Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional…
This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…
The Lyapunov inequality is an indispensable tool for stability analysis in linear control theory. It provides a necessary and sufficient condition for the stability of an autonomous linear-time invariant system in terms of the existence of…
This paper designs a servo control system based on sliding mode control for the shape control of elastic objects. In order to solve the effect of non-smooth and asymmetric control saturation, a Gaussian-based continuous differentiable…
Learning for control of dynamical systems with formal guarantees remains a challenging task. This paper proposes a learning framework to simultaneously stabilize an unknown nonlinear system with a neural controller and learn a neural…
In this paper, synchronization of fractional order Coullet system with precise and also unknown parameters are studied. The proposed method which is based on the adaptive backstepping, has been developed to synchronize two chaotic systems…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
In this paper, an adaptive controller is designed for the synchronization of the trajectory of a robot with unknown kinematics and dynamics to that of the current human trajectory in the task space using the delayed human trajectory…
We develop a predictor-feedback control design for a class of linear systems with state-dependent switching. The main ingredient of our design is a novel construction of an exact predictor state. Such a construction is possible as for a…
Converse optimality theory addresses an optimal control problem conversely where the system is unknown and the value function is chosen. Previous work treated this problem both in continuous and discrete time and non-extensively considered…
In this paper, a novel continuous non-smooth control strategy is proposed to achieve finite-time stabilization of ladder quantum systems. We first design a universal fractional-order control law for a ladder n-level quantum system using a…
With the unceasing growth of intelligent production lines that integrate sensors, actuators, and controllers in a wireless communication environment via internet of things (IoT), we design an event-triggered boundary controller for a…
This note presents an extension to the adaptive control strategy presented in [1] able to counter eventual instability due to disturbances at the input of an otherwise $\mathcal{L}_2$ stable closed-loop system. These disturbances are due to…
In this paper, adaptive set-point regulation controllers for discrete-time nonlinear systems are constructed. The system to be controlled is assumed to have a parametric uncertainty, and an excitation signal is used in order to obtain the…
Recently, many machine learning optimizers have been analysed considering them as the asymptotic limit of some differential equations when the step size goes to zero. In other words, the optimizers can be seen as a finite difference scheme…
Stability and safety are two important aspects in safety-critical control of dynamical systems. It has been a well established fact in control theory that stability properties can be characterized by Lyapunov functions. Reachability…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
It has been known for some time that proportional output feedback will stabilize MIMO, minimum-phase, linear time-invariant systems if the feedback gain is sufficiently large. High-gain adaptive controllers achieve stability by…