Related papers: Discrete-time Flatness and Linearization along Tra…
This paper proposes several nonlinear control strategies for trajectory tracking of a quadcopter system based on the property of differential flatness. Its originality is twofold. Firstly, it provides a flat output for the quadcopter…
This paper studies controllability of a discrete-time linear dynamical system using nonnegative and sparse inputs. These constraints on the control input arise naturally in many real-life systems where the external influence on the system…
Randomly-assembled dynamical systems are theoretically predicted to be unstable upon crossing a critical threshold of complexity, as first shown by May. Yet, empirical complex systems exhibit remarkable stability, indicating the presence of…
The stability analysis of a class of discontinuous discrete-time systems is studied in this paper. The system under study is modeled as a feedback interconnection of a linear system and a set-valued nonlinearity. An equivalent…
One of the fundamental problems of interest for discrete-time linear systems is whether its input sequence may be recovered given its output sequence, a.k.a. the left inversion problem. Many conditions on the state space geometry, dynamics,…
We introduce a new definition of $\pi$-flatness for linear differential delay systems with time-varying coefficients. We characterize $\pi$- and $\pi$-0-flat outputs and provide an algorithm to efficiently compute such outputs. We present…
This work addresses fundamental issues related to the structure and conditioning of linear time-delayed models of non-linear dynamics on an attractor. While this approach has been well-studied in the asymptotic sense (e.g. for infinite…
This article addresses the design of a discrete-time flatness-based tracking control for a gantry crane and demonstrates the practical applicability of the approach by measurement results. The required sampled-data model is derived by an…
For many tasks, predictive path-following control can significantly improve the performance and robustness of autonomous robots over traditional trajectory tracking control. It does this by prioritizing closeness to the path over timed…
In this report, we develop a semistability analysis framework for nonlinear systems with bounded time-varying delays with applications to stability analysis of multiagent dynamic networks with consensus protocols in the presence of unknown…
In this note we consider continuous-time systems x'(t) = A(t) x(t) + B(t) u(t), y(t) = C(t) x(t) + D(t) u(t), as well as discrete-time systems x(t+1) = A(t) x(t) + B(t) u(t), y(t) = C(t) x(t) + D(t) u(t) whose coefficient matrices A, B, C…
In this paper we consider $(x,u)$-flat nonlinear control systems with two inputs, and show that every such system can be rendered static feedback linearizable by prolongations of a suitably chosen control. This result is not only of…
Control systems of interest are often invariant under Lie groups of transformations. For such control systems, a geometric framework based on Lie symmetry is formulated, and from this a sufficient condition for dynamic feedback…
This chapter presents an approach to embed the input/state/output constraints in a unified manner into the trajectory design for differentially flat systems. To that purpose, we specialize the flat outputs (or the reference trajectories) as…
Synchronization in networks of discrete-time linear time-invariant systems is considered under relative actuation. Neither input nor output matrices are assumed to be commensurable. A distributed algorithm that ensures synchronization via…
Learning-based optimal control algorithms control unknown systems using past trajectory data and a learned model of the system dynamics. These controllers use either a linear approximation of the learned dynamics, trading performance for…
This paper deals with stabilization of discrete-time switched linear systems when explicit knowledge of the state-space models of their subsystems is not available. Given the set of admissible switches between the subsystems, the admissible…
Linear observed systems on manifolds are a special class of nonlinear systems whose state spaces are smooth manifolds but possess properties similar to linear systems. Such properties can be characterized by preintegration and exact…
The linearization of the meteorological equations around a specified reference state, usually applied in NWP to define the linear system of constant-coefficients semi-implicit schemes, is outlined as an unnecessarily restrictive approach…
The objective of this paper is to study the controllability of discrete-time linear control systems in solvable Lie groups. In the special case of nilpotent Lie groups, a necessary and sufficient condition for controllability is…