Related papers: Dynamic Feedback Linearization of Control Systems …
We discuss smooth nonlinear control systems with symmetry. For a free and proper action of the symmetry group, the reduction of symmetry gives rise to a reduced smooth nonlinear control system. If the action of the symmetry group is only…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
In this work, Lie symmetry analysis is performed on a coupled nonlinear cross-diffusion system with varying cross-section geometry. The system describes two interacting quantities whose material properties, namely the capacity functions and…
This paper demonstrates the first application of feedback linearization to replicator dynamics, driving the evolution of non-convergent evolutionary games to systems with guaranteed global asymptotic stability.
For a general class of dynamical systems (of which the canonical continuous and uniform discrete versions are but special cases), we prove that there is a state feedback gain such that the resulting closed-loop system is uniformly…
Designing planners and controllers for contact-rich manipulation is extremely challenging as contact violates the smoothness conditions that many gradient-based controller synthesis tools assume. Contact smoothing approximates a non-smooth…
In this paper we give a geometrical framework for the design of observers on finite-dimensional Lie groups for systems which possess some specific symmetries. The design and the error (between true and estimated state) equation are explicit…
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich…
Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…
In this paper, we study the control of a class of time-invariant linear ensemble systems whose natural dynamics are linear in the system parameter. This class of ensemble control systems arises from practical engineering and physical…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
Statistical models that possess symmetry arise in diverse settings such as random fields associated to geophysical phenomena, exchangeable processes in Bayesian statistics, and cyclostationary processes in engineering. We formalize the…
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…
The dynamical systems having both bosonic and fermionic variables play an important role in the theory of supersymmetry. This article addresses the control problems including both bosonic and fermionic variables on Lie supergroup as the…
This paper considers the optimization landscape of linear dynamic output feedback control with $\mathcal{H}_\infty$ robustness constraints. We consider the feasible set of all the stabilizing full-order dynamical controllers that satisfy an…
We address modeling and control of a gate access automation system. A model of the mechatronic system is derived and identified. Then an approximate explicit feedback linearization scheme is proposed, which ensures almost linear response…
We consider adaptive control problem in presence of nonlinear parametrization of uncertainties in the model. It is shown that despite traditional approaches require for domination in the control loop during adaptation, it is not often…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
We provide theoretical guarantees for recursive feasibility and practical exponential stability of the closed-loop system of a feedback linearizable nonlinear system when controlled by a robust data-driven nonlinear predictive control…
The model-free control approach is an advanced control law that requires few information about the process to control. Since its introduction in 2008, numerous applications have been successfully considered, highlighting attractive…