Related papers: MIMO Super-Twisting Controller using a passivity-b…
We deduce stability results for finite control set and mixed-integer model predictive control with a downstream oversampling phase. The presentation rests upon the inherent robustness of model predictive control with stabilizing terminal…
This paper presents the design of a nonlinear control law for a typical electromagnetic actuator system. Electromagnetic actuators are widely implemented in industrial applications, and especially as linear positioning system. In this work,…
We develop an indirect-adaptive model predictive control algorithm for uncertain linear systems subject to constraints. The system is modeled as a polytopic linear parameter varying system where the convex combination vector is constant but…
This work develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The approach adjusts the rate of adaptation online to eliminate the…
This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…
Terminal sliding mode (TSM) control algorithm and its non-singular refinement have been elaborated for two decades and belong, since then, to a broader class of the finite-time controllers, which are known to be robust against the matched…
Stability margins for linear time-varying (LTV) and switched-linear systems are traditionally computed via quadratic Lyapunov functions, and these functions certify the stability of the system under study. In this work, we show how the more…
This brief gives a set of unified Lyapunov stability conditions to guarantee the predefined-time/finite-time stability of a dynamical systems. The derived Lyapunov theorem for autonomous systems establishes equivalence with existing…
This paper proposes a robust control method based on sliding mode design for two-level quantum systems with bounded uncertainties. An eigenstate of the two-level quantum system is identified as a sliding mode. The objective is to design a…
This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…
Robust stabilization conditions for uncertain switched affine systems subject to a unitary input delay are presented. They are obtained through the Lyapunov framework and a min-switching state-feedback predictive control law. The result…
This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…
This paper presents a new data-driven control for multi-input, multi-output nonlinear systems with partially unknown dynamics and bounded disturbances. Since exact nonlinearity cancellation is not feasible with unknown disturbances, we…
Existing results on cooperative control of multi-agent systems with unknown control directions require that the underlying topology is either fixed with a strongly connected graph or switching between different strongly connected graphs.…
In this paper, we develop a systematic method for constructing a generalized discrete-time control Lyapunov function for the flexible-step Model Predictive Control (MPC) scheme, recently introduced in [2], when restricted to the class of…
This paper is concerned with the study of the stability of dynamical systems evolving on time scales. We first {formalize the notion of matrix measures on time scales, prove some of their key properties and make use of this notion to study…
In this paper, a variable gain super-twisting algorithm based on a barrier function is proposed for a class of first order disturbed systems with uncertain control coefficient and whose disturbances derivatives are bounded but they are…
This paper presents novel stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. We distinguish and study two particular settings: i) the \emph{robust} case, in which the…
In this work, we introduce a novel data-driven model-reference control design approach for unknown linear systems with fully measurable state. The proposed control action is composed by a static feedback term and a reference tracking block,…
This paper provides a novel surface design and experimental evaluation of a super-twisting algorithm (STA) based control for hydraulic cylinder actuators. The proposed integral sliding surface allows to track a sufficiently smooth reference…