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An integral extension of state-feedback controllers for linear time-varying plants is proposed, which preserves performance of the nominal controller in the unperturbed case. Similar to time-invariant state feedback with integral action,…
Transient instability in nonlinear stochastic dynamical systems is a fundamental limitation in safety-critical aerospace applications, particularly during powered descent and landing where failure is driven by finite-time excursions rather…
This paper presents a novel anti-windup proportional-integral controller for stable multi-input multi-output nonlinear plants. We use tools from projected dynamical systems theory to force the integrator state to remain in a desired…
This paper proposes a novel control law for accurate tracking of agile trajectories using a tailsitter flying wing unmanned aerial vehicle (UAV) that transitions between vertical take-off and landing (VTOL) and forward flight. The global…
Incremental stability is a property of dynamical and control systems, requiring the uniform asymptotic stability of every trajectory, rather than that of an equilibrium point or a particular time-varying trajectory. Similarly to stability,…
This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…
The PID controller remains the most widely adopted control architecture, with groundbreaking success across extensive implications. However, optimal parameter tuning for PID controller remains a critical challenge. Existing theories…
In this paper we study the problem of determining the largest degree of stability that can be achieved for SISO systems using negative imaginary state feedback control. A state feedback result is given for synthesising a controller for a…
This paper presents a new improved nonlinear tracking differentiator (INTD) with hyperbolic tangent function in the state space system. The stability and convergence of the INTD are thoroughly investigated and proved. Through the error…
The dissipativity framework is widely used to analyze stability and performance of nonlinear systems. By embedding nonlinear systems in an LPV representation, the convex tools of the LPV framework can be applied to nonlinear systems for…
Airships offer unique operational advantages due to their ability to generate lift via buoyancy, enabling low-speed flight and stationary hovering. These capabilities make them ideal for missions requiring endurance and precision…
This paper is concerned with robust instability analysis of linear feedback systems subject to a dynamic uncertainty. The work is motivated by, and provides a basic foundation for, a more challenging problem of analyzing persistence of…
Hybrid unmanned aircraft can significantly increase the potential of micro air vehicles, because they combine hovering capability with a wing for fast and efficient forward flight. However, these vehicles are very difficult to control,…
We consider linear time-invariant dynamic systems in the single-input, single-output (SISO) framework. In particular, we consider stabilization of an inverted pendulum on a cart using a force on the cart. This system is easy to stabilize…
In this paper, the incremental stability of interconnected switched nonlinear systems is discussed. The nature of switching considered is state-dependent. The incremental stability of the switched interconnected system is a stronger…
Incremental input-to-state stability (delta-ISS) offers a robust framework to ensure that small input variations result in proportionally minor deviations in the state of a nonlinear system. This property is essential in practical…
Hyperexponential stability is investigated for dynamical systems with the use of both, explicit and implicit, Lyapunov function methods. A nonlinear hyperexponential control is designed for stabilizing linear systems. The tuning procedure…
With the advantages of high modeling accuracy and large bandwidth, recurrent neural network (RNN) based inversion model control has been proposed for output tracking. However, some issues still need to be addressed when using the RNN-based…
When dealing with control systems, it is useful and even necessary to assess the performance of underlying transfer functions. The functions may or may not be linear, may or may not be even monotonic. In addition, they may have structural…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…