Related papers: Synchronization and Balancing around Simple Closed…
This paper introduces harmonic control Lyapunov barrier functions (harmonic CLBF) that aid in constrained control problems such as reach-avoid problems. Harmonic CLBFs exploit the maximum principle that harmonic functions satisfy to encode…
We consider bounded extremum seeking controls for time-varying linear systems with uncertain coefficient matrices and measurement uncertainty. Using a new change of variables, Lyapunov functions, and a comparison principle, we provide…
Incorporating force bounds is crucial for realistic control implementations in physical systems. Here, we investigate the fastest possible synchronisation of a Li\'enard system to its limit cycle using a bounded external force. To tackle…
Stability and stabilization for linear state feedback control systems in the presence of sensor quantization are studied. As the closed-loop system is described by a discontinuous right-hand side differential equation, Krasovskii solutions…
In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent…
Classical flocking models demonstrate how local interactions generate emergent order, but real-world multi-agent deployments are bound by severe constraints: limited actuator availability, heterogeneous communication latencies, and…
The paper deals with the problem of the sampled data feedback stabilization for autonomous nonlinear systems. The corresponding results extend those obtained in earlier works by the same authors. The sufficient conditions we establish are…
Here, we study the ultimately bounded stability of network of mismatched systems using Lyapunov direct method. We derive an upper bound on the norm of the error of network states from its average states, which it achieves in finite time.…
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unlike existing methods, which often assume that the constraints…
Synchronization control in arrays of identical output-coupled continuous-time linear systems is studied. Sufficiency of new conditions for the existence of a synchronizing feedback law are analyzed. It is shown that for neutrally stable…
In this paper, an adaptive controller is designed for the synchronization of the trajectory of a robot with unknown kinematics and dynamics to that of the current human trajectory in the task space using the delayed human trajectory…
In this Letter, we derive a sufficient condition of synchronizing limit sets (attractors and repellers) by using the linear feedback control technique proposed here. There examples are included. The numerical simulations and computer…
This paper studies the stabilization and safety problems of nonlinear time-delay systems, where time delays exist in system state and affect the controller design. Following the Razumikhin approach, we propose a novel control…
This paper proposes a novel control architecture for state and input constrained Euler-Lagrange (E-L) systems with parametric uncertainties. A simple saturated controller is strategically coupled with a Barrier Lyapunov Function (BLF) based…
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaining the compositionality and the distributed nature of the…
We study the synchronization and stability of power grids within the Kuramoto phase oscillator model with inertia with a bimodal frequency distribution representing the generators and the loads. We identify critical nodes through solitary…
The problem of stabilization of a system of coupled PDEs of the forth-order by means of boundary control is investigated. The considered setup arises from the classical Euler-Bernoulli beam model, and constitutes a generalization of…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
In this study, we propose new global stabilization approaches for a class of polynomial systems in both model-based and data-driven settings. The existing model-based approach guarantees global asymptotic stability of the closed-loop system…