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In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
This article is concerned with the asymptotic behavior of a 2D overhead crane. Taking into account the presence of a delay in the boundary, and assuming that no displacement term appears in the system, a distributed (interior) damping…
In this paper, we study the well-posedness and approximate controllability of a class of network systems having delays and controls at the boundary conditions. The particularity of this work is that the network system is defined on infinite…
This work is motivated by the engineering challenge of suppressing vibrations in turbine blades of aero engines, which often operate under extreme thermal conditions and high-Mach aerodynamic environments that give rise to complex vibration…
We introduce discontinuous solutions to nonlinear impulsive control systems with state time delays in the dynamics and derive necessary optimality conditions in the form of a Maximum Principle for associated optimal control problems. In the…
We present a robust model predictive control method (MPC) for discrete-time linear time-delayed systems with state and control input constraints. The system is subject to both polytopic model uncertainty and additive disturbances. In the…
We prove controllability results for abstract systems of weakly coupled $N$ evolution equations in cascade by a reduced number of boundary or locally distributed controls ranging from a single up to $N-1$ controls. We give applications to…
We consider a one-dimensional controlled reaction-diffusion equation, where the control acts on the boundary and is subject to a constant delay. Such a model is a paradigm for more general parabolic systems coupled with a transport…
We study the exact controllability, by a reduced number of controls, of coupled cascade systems of PDE's and the existence of exact insensitizing controls for the scalar wave equation. We give a necessary and sufficient condition for the…
The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…
In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive…
Time delays are ubiquitous in industry, and they must be accounted for when designing control strategies. However, numerical optimal control (NOC) of delay differential equations (DDEs) is challenging because it requires specialized…
We investigate the finite-time boundary stabilization of a 1-D first order quasilinear hyperbolic system of diagonal form on [0,1]. The dynamics of both boundary controls are governed by a finite-time stable ODE. The solutions of the…
This paper addresses a press control problem in straightening machines with small time delays due to system communication. To handle this, we propose a generalized $\beta$-control method, which replaces conventional linear velocity control…
A re-entrant manufacturing system producing a large number of items and involving many steps can be approximately modeled by a hyperbolic partial differential equation (PDE) according to mass conservation law with respect to a continuous…
We present a methodology for designing bilateral boundary controllers for a class of systems consisting of a coupled diffusion equation with an unstable ODE at an arbitrary interior point. A folding transformation is applied about the…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
Networked Predictive Control is widely used to mitigate the effect of delays and dropouts in Networked Control Systems, particularly when these exceed the sampling time. A key design choice of these methods is the delay bound, which…
This paper is concerned with the point torque boundary feedback stabilization of a damped Euler-Bernoulli beam model in the presence of a time-varying state-delay. First, a finite-dimensional truncated model is derived by spectral…
Motivated by active wing flutter suppression in high-Mach-number flight, this paper presents a rapid boundary stabilization strategy for a two-dimensional PDE-modeled elastic plate with in-domain instabilities, where the exponential…