Related papers: From local to global asymptotic stabilizability fo…
Two types of general nonlinear consensus protocols are considered in this paper, namely the systems with nonlinear measurement and communication of the agents' states, respectively. The solutions of the systems are understood in the sense…
In this paper, we address the problem of stabilizing a system around a desired manifold determined by virtual nonlinear nonholonomic constraints. Virtual constraints are relationships imposed on a control system that are rendered invariant…
This paper investigates the decentralized stabilization problem for a class of interconnected systems in the presence of non-triangular structural uncertainties and time-varying parameters, where each subsystem exchanges information only…
We consider nonlinear scalar-input differential control systems in the vicinity of an equilibrium. When the linearized system at the equilibrium is controllable, the nonlinear system is smoothly small-time locally controllable, i.e.,…
Sufficient conditions for global stabilization of nonlinear systems with delayed input by means of approximate predictors are presented. An approximate predictor is a mapping which approximates the exact values of the stabilizing input for…
Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…
We study the stability of general weakly coupled systems subject to a reduced number of local or boundary controls. We show that, under Kalman's rank condition, the exponential stability of the underlying scalar equation implies polynomial…
This paper studies static output feedback stabilization of continuous-time (incrementally) passive nonlinear systems where the control actions can only be chosen from a discrete (and possibly finite) set of points. For this purpose, we are…
In this article, we present a stabilization feedback law with integral action for conservative abstract linear systems subjected to actuator nonlinearity. Based on the designed control law, we first prove the well-posedness and global…
In this paper, we investigate the rapid stabilizability of linear infinite-dimensional control systems with constant delays. Under the assumptions that the state operator generates an immediately compact semigroup and that the delay…
This paper investigates the robust asymptotic stabilization of a linear time-invariant (LTI) system by a static feedback with a static state quantization. It is shown that the controllable LTI system can be stabilized to zero in a finite…
The aim of this paper is to prove the existence of almost global weak solutions for the unsteady nonlinear elastodynamics system in dimension $d=2$ or $3$, for a range of strain energy density functions satisfying some given assumptions.…
The problem of tracking an arbitrary curve in the state space is considered for underactuated driftless control-affine systems. This problem is formulated as the stabilization of a time-varying family of sets associated with a neighborhood…
We derive a saturated feedback control, which locally stabilizes a linear reaction-diffusion equation. In contrast to most other works on this topic, we do not assume the Lyapunov stability of the uncontrolled system and consider general…
The paper deals with the global asymptotic stability of general nonlinear time-delay systems with delay-dependent impulses through the Lyapunov-Krasovskii method. We derive a unified stability criterion which can be applied to a variety of…
Classical discrete-time adaptive controllers provide asymptotic stabilization. While the original adaptive controllers did not handle noise or unmodelled dynamics well, redesigned versions were proven to have some tolerance; however,…
This paper introduces the notion of weak rigidity to characterize a framework by pairwise inner products of inter-agent displacements. Compared to distance-based rigidity, weak rigidity requires fewer constrained edges in the graph to…
This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…
We revisit the time-adiabatic theorem of quantum mechanics and show that it can be extended to weakly nonlinear situations, that is to nonlinear Schroedinger equations in which either the nonlinear coupling constant or, equivalently, the…
Contraction theory is a recently developed dynamic analysis and nonlinear control system design tool based on an exact differential analysis of convergence. This paper extends contraction theory to local and global stability analysis of…