Related papers: Output Feedback Consensus for Networked Heterogene…
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…
A non-equilibrium open-dissipative neural network, such as a coherent Ising machine based on mutually coupled optical parametric oscillators, has been proposed and demonstrated as a novel computing machine for hard combinatorial…
This paper constructs a framework to describe and study the coordinated output regulation problem for multiple heterogeneous linear systems. Each agent is modeled as a general linear multiple-input multiple-output system with an autonomous…
This paper focuses on analyzing the finite-time convergence of a nonlinear consensus algorithm for multi-agent networks with unknown inherent nonlinear dynamics. Due to the existence of the unknown inherent nonlinear dynamics, the stability…
Asymptotic disturbance rejection (equivalently tracking) for nonlinear systems has been studied only in qualitative terms (the state is asymptotically stable under bounded disturbances). We show how to prove quantitative performance…
Nonlinear Negative Imaginary (NI) systems arise in various engineering applications, such as controlling flexible structures and air vehicles. However, unlike linear NI systems, their theory is not well-developed. In this paper, we propose…
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…
The attitude tracking problem for a full-actuated rigid body in 3D is studied using a impulsive system model based on Lie algebra so(3). A nonlinear homogeneous controller is designed to globally track a smooth attitude trajectory in a…
Feedback optimization algorithms compute inputs to a system using real-time output measurements, which helps mitigate the effects of disturbances. However, existing work often models both system dynamics and computations in either discrete…
In this paper we show how nonlinear internal models can be effectively used in the design of output regulators for nonlinear systems. This result provides a significant enhancement of the non-equilibrium theory for output regulation, which…
This paper analyzes distributed control protocols for first- and second-order networked dynamical systems. We propose a class of nonlinear consensus controllers where the input of each agent can be written as a product of a nonlinear gain,…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
The movement of cooperative robots in a densely cluttered environment may not be possible if the formation type is invariant. Hence, we investigate a new method for time-varying formation control for a group of heterogeneous autonomous…
This paper generalizes recent results by the authors on noninvasive model-reference adaptive control designs for control-based continuation of periodic orbits in periodically excited linear systems with matched uncertainties to a larger…
We study the control of networked systems with the goal of optimizing both transient and steady-state performances while providing stability guarantees. Linear proportional-integral (PI) controllers are almost always used in practice, but…
Stylized models of the neurodynamics that underpin sensory motor control in animals are proposed and studied. The voluntary motions of animals are typically initiated by high level intentions created in the primary cortex through a…
An adaptive funnel control method is considered for the regulation of the output for a class of nonlinear infinite-dimensional systems on real Hilbert spaces. After a decomposition of the state space and some change of variables related to…
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…
Novel nonlinear damping control is proposed for the second-order systems. The proportional output feedback is combined with the damping term which is quadratic to the output derivative and inverse to the set-point distance. The global…
In this paper, we present necessary and sufficient conditions under which a linear time-invariant (LTI) system is state feedback equivalent to a negative imaginary (NI) system. More precisely, we show that a minimal LTI strictly proper…