Related papers: Synchronization and Balancing around Simple Closed…
This paper addresses the problem of collective circular motion control for unicycle agents, with the objective of achieving phase coordination of their velocity vectors while ensuring that their trajectories remain confined within a…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
Since the mid-1990s, it has been known that, unlike in Cartesian form where Brockett's condition rules out static feedback stabilization, the unicycle is globally asymptotically stabilizable by smooth feedback in polar coordinates. In this…
Boundary feedback control design is studied for 1D hyperbolic systems with an in-domain disturbance and a boundary feedback controller under the effect of actuator saturation. Nonlinear semigroup theory is used to prove well-posedness of…
The feedback stabilization problem for ensembles of coupled spin 1/2 systems is discussed from a control theoretic perspective. The noninvasive nature of the bulk measurement allows for a fully unitary and deterministic closed loop. The…
We study the problem of robust global stabilization in control-affine systems, focusing on dynamic uncertainties in the control directions \emph{and} the presence of topological obstructions that prevent the existence of smooth global…
The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicycle robot while ensuring it maintains a desired safe distance…
The coordination problem of multi-vehicle systems is of great interests in the area of autonomous driving and multi-vehicle control. This work mainly focuses on multi-task coordination problem of a group of vehicles with a bicycle model and…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV…
The problem of designing a stabilizing feedback controller in the presence of saturating actuators and multi-rate (asynchronous) aperiodic state measurements is studied. Specifically, we consider a scenario in which measurements of the…
In this paper, we study the feasibility of a class of optimization-based boundary control of one-dimensional macroscopic traffic flow models, where stability and invariance are achieved by a single boundary control. We define the sets of…
We derive a saturated feedback control, which locally stabilizes a linear reaction-diffusion equation. In contrast to most other works on this topic, we do not assume the Lyapunov stability of the uncontrolled system and consider general…
Saturations in control signal can challenge the stability proof of a feedback-linearization-based controller, even leading the system unstable [1]. Thus, several approaches are established to avoid reaching the saturation bound [2,3].…
We introduce a novel Lyapunov function for stabilization of linear Vlasov--Fokker--Planck type equations with stiff source term. Contrary to existing results relying on transport properties to obtain stabilization, we present results based…
In Part I of this paper we propose a decentralized optimal frequency control of multi-area power system with operational constraints, where the tie-line powers remain unchanged in the steady state and the power mismatch is balanced within…
In this paper, we extend well-known relationships between global asymptotic controllability, sample stabilizability, and the existence of a control Lyapunov function to a wide class of control systems with unbounded controls, which includes…
In this paper, we present Lyapunov-based {\color{black}time varying} controllers for {\color{black}fast} stabilization of a perturbed chain of integrators with bounded uncertainties. We refer to such controllers as {\color{black}time…
This paper studies the cooperative tracking control problem for multiple mobile robots over a directed communication network. First, it is shown that the closed-loop system is uniformly globally asymptotically stable under the proposed…
We show that the existence of a strictly compatible pair of control Lyapunov and control barrier functions is equivalent to the existence of a single smooth Lyapunov function that certifies both asymptotic stability and safety. This…