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Automated synthesis of correct-by-construction controllers for autonomous systems is crucial for their deployment in safety-critical scenarios. Such autonomous systems are naturally modeled as stochastic dynamical models. The general…
Predictor-based stabilization results are provided for nonlinear systems with input delays and a compact absorbing set. The control scheme consists of an inter-sample predictor, a global observer, an approximate predictor, and a nominal…
This paper presents a linear-programming based algorithm to perform data-driven stabilizing control of linear positive systems. A set of state-input-transition observations is collected up to magnitude-bounded noise. A state feedback…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
This paper studies the emulation-based stabilization of nonlinear networked control systems with two time scales. We address the challenge of using a single communication channel for transmitting both fast and slow variables between the…
In this paper we propose a model predictive control scheme for constrained fractional-order discrete-time systems. We prove that all constraints are satisfied at all time instants and we prescribe conditions for the origin to be an…
This paper is devoted to the controllability analysis of a class of linear control systems in a Hilbert space. It is proposed to use the minimum energy controls of a reduced lumped parameter system for solving the infinite dimensional…
The main objective of this paper is to propose an alternative procedure to carry out one of the key steps of immersion and invariance stabilising controller design. Namely, the one that ensures attractivity of the manifold whose internal…
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…
This paper introduces a new approach for output feedback stabilization of SISO systems which, unlike most of the techniques found in the literature, does not use high-gain observers and control input saturation to achieve separation between…
For a parameter-unknown linear descriptor system, this paper proposes data-driven methods to testify the system's type and controllability and then to stabilize it. First, a data-based condition is developed to identify whether this unknown…
A discrete time control algorithm using the damped least squares is introduced for acceleration and energy exchange controls in nonlinear vibrating systems. It is shown that the damping constant of least squares and sampling time step of…
We propose a new method for pure-state and subspace preparation in quantum systems, which employs the output of a continuous measurement process and switching dissipative control to improve convergence speed, as well as robustness with…
In this paper, we investigate the null controllability of nonlinear wave systems. Initially, we employ a combination of the Galerkin method and a fixed point theorem to establish the null controllability for semi-linear wave equations with…
We study a type of port-Hamiltonian system, in which the controller or disturbance is not applied to the flow variables, but to the systems power, a scenario that appears in many practical applications. A suitable framework is provided to…
In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial linearizing state feedback, and an immersion and invariance…
A fully analytical controller design is proposed to tackle a periodic control problem for stable linear systems with an input delay. Applying the internal model control scheme, the controller design reduces to designing a filter, which is…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Total energy shaping through interconnection and damping assignment passivity-based control (IDA-PBC) provides a powerful and systematic framework for stabilizing underactuated mechanical systems. Despite its theoretical appeal,…
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…