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An impulsive feedback-adaptive control is developed in order to drive trajectories of a dynamical system towards an invariant manifold with fixed and spaced impulsive controls. The approach requires the explicit knowledge of the set of…
Symmetries of nonlinear control systems in state representation are considered. To this end, a geometric approach to ordinary differential equations is advocated. Invariant feedback laws for systems with Lie symmetries, i.e. feedback laws…
One of the most important branches of nonlinear control theory is the so-called sliding-mode. Its aim is the design of a (nonlinear) feedback law that brings and maintains the state trajectory of a dynamic system on a given sliding surface.…
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…
This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…
A new class of control problems is discussed - homeostasis control. Homeostasis control problems can be considered as control problems with a given target set, in particular, as a problem of stabilizing the values of some target function,…
In this paper we establish the theory on semiglobal classical solution to first order quasilinear hyperbolic systems with a kind of nonlocal boundary conditions, and based on this, the corresponding exact boundary controllability and…
In the present contribution, a feedback control law is studied for a quasilinear parabolic equation. First, we prove the well-posedness and some regularity results for the Cauchy-Neumann problem for this equation, modified by adding an…
This article provides an overview of the design of nonlinear feedback Cruise Controllers (CCs) for automated vehicles on lane-free roads. The feedback design problem is particularly challenging because of the various state constraints…
This paper presents a low-complexity, model-free, output-feedback controller for a class of unknown time-varying nonlinear systems with unknown input constraints. The controller achieves the preset control accuracy when the actuator is not…
We propose a general method for deformation quantization of any second-class constrained system on a symplectic manifold. The constraints determining an arbitrary constraint surface are in general defined only locally and can be components…
This note studies the exponential convergence of input-output signals of discrete-time nonlinear systems composed of a feedback interconnection of a linear time-invariant system and a nonlinear uncertainty. Both the open-loop subsystems are…
The paper addresses an existence problem for infinite horizon optimal control when the system under control is exponentially stabilizable or stable. Classes of nonlinear control systems for which infinite horizon optimal controls exist are…
We consider the problem of topological linearization of smooth (C infinity or real analytic) control systems, i.e. of their local equivalence to a linear controllable system via point-wise transformations on the state and the control…
Positive systems describing networks with inherently non-negative states and inputs arise naturally in routing, logistics, and compartmental modelling. We consider problems modelled as positive linear systems in incidence form with linear…
Neural networks have proven practical for a synergistic combination of advanced control techniques. This work analyzes the implementation of rectified linear unit neural networks to achieve constrained control in differentially flat…
Control systems are usually modeled by differential equations describing how physical phenomena can be influenced by certain control parameters or inputs. Although these models are very powerful when dealing with physical phenomena, they…
Nonholonomic mechanical systems have been attracting more interest in recent years because of their rich geometric properties and their applications in Engineering. In all generality, we discuss the reduction of a Hamilton-Jacobi theory for…
Let L be the manifold of all (unparametrized) oriented lines of R^3. We study the controllability of the control system in L given by the condition that a curve in L describes at each instant, at the infinitesimal level, an helicoid with…
In this thesis, we provide new insights into the theory of cascade feedback linearization of control systems. In particular, we present a new explicit class of cascade feedback linearizable control systems, as well as a new obstruction to…