Related papers: robust synergistic hybrid feedback
This paper proposes a novel nonlinear sliding mode state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) feedback control, the proposed nonlinear scheme uses the output of interest…
We consider the problem of global stability of nonlinear sampled-data systems. Sampled-data systems are a form of hybrid model which arises when discrete measurements and updates are used to control continuous-time plants. In this paper, we…
This paper studies the problem of stabilizing a continuous-time switched linear system by quantized output feedback. We assume that the quantized outputs and the switching signal are available to the controller at all time. We develop an…
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 examines the global convergence problem of SLAM algorithms, an issue that faces topological obstructions. This is because the state-space of attitude dynamics is defined on a non-contractible manifold: the special orthogonal…
A standard way of finding a feedback law that stabilizes a control system to an operating point is to recast the problem as an infinite horizon optimal control problem. If the optimal cost and the optmal feedback can be found on a large…
This paper investigates the finite time stabilization problem for a class of nonlinear systems with unknown control directions and unstructured uncertainties. The unstructured uncertainties indicate that not only the parameters but also the…
Stability is a critical feature of distributed linear multi-input-multi-output systems. Global asymptotic stability usually can be guaranteed when using decentralised or distributed control architectures, if: (i) conservative controllers…
We investigate the engineering scenario where the objective is to synchronize heterogeneous oscillators in a distributed fashion. The internal dynamics of each oscillator are general enough to capture their time-varying natural frequency as…
This work is devoted to the construction of explicit feedback control laws for the robust, global, exponential stabilization of general, uncertain, discrete-time, acyclic traffic networks. We consider discrete-time, uncertain network models…
We consider the design of state feedback control laws for both the switching signal and the continuous input of an unknown switched linear system, given past noisy input-state trajectories measurements. Based on Lyapunov-Metzler…
We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different…
Symbiotic control synergistically integrates fixed-gain control and adaptive learning architectures to mitigate system uncertainties more predictably than adaptive learning alone and without requiring prior knowledge of uncertainty bounds…
The synthesis problem of static output feedback controllers within the anistropic-norm setup is revisited. A tractable synthesis approach involving iterations over a convex optimization problem is suggested, similarly to existing results…
An analysis of stick-slip behavior and convergence of trajectories in the feedback-controlled motion systems with discontinuous Coulomb friction is provided. A closed-form parameter-dependent stiction region, around an invariant equilibrium…
This paper is motivated by the problem of asymptotically stabilizing invariant sets in the state space of control systems by means of output feedback. The sets considered are smooth embedded in submanifolds and the class of system is…
Recently, a number of counter examples have surfaced where Linear Parameter-Varying (LPV) control synthesis applied to achieve asymptotic output tracking and disturbance rejection for a nonlinear system, fails to achieve the desired…
We investigate stability of a solution of a hybrid system in the sense that the graphs of solutions from nearby initial conditions remain close and tend towards the graph of the given solution. In this manner, a small continuous-time…
There are two main challenges in control of hybrid systems which are to guarantee the closed-loop stability and reduce computational complexity. In this paper, we propose the exponential stability conditions of hybrid systems which are…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…