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This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
We consider third-order dynamic systems which have an integral feedback action and discontinuous relay disturbance. More specifically for the applications, the focus is on the integral plus state-feedback control of the motion systems with…
This paper describes an approach for attractor selection (or multi-stability control) in nonlinear dynamical systems with constrained actuation. Attractor selection is obtained using two different deep reinforcement learning methods: 1) the…
Feedback control (based on the quantum continuous measurement) of quantum systems inevitably suffers from estimation delays. In this paper we give a delay-dependent stability criterion for a wide class of nonlinear stochastic systems…
This work presents a theoretical framework for the safety-critical control of time delay systems. The theory of control barrier functions, that provides formal safety guarantees for delay-free systems, is extended to systems with state…
Automated vehicle technologies offer a promising avenue for enhancing traffic efficiency, safety, and energy consumption. Among these, Adaptive Cruise Control (ACC) systems stand out as a prevalent form of automation on today's roads, with…
We study feedback control for discrete-time linear time-invariant systems in the presence of quantization both in the control action and in the measurement of the controlled variable. While in some application the quantization effects can…
The slow passage through a Hopf bifurcation leads to the delayed appearance of large amplitude oscillations. We construct a smooth scalar feedback control which suppresses the delay and causes the system to follow a stable equilibrium…
Control-based continuation (CBC) is an experimental method that can reveal stable and unstable dynamics of physical systems. It extends the path-following principles of numerical continuation to experiments, and provides systematic…
A remarkable connection between optimal delayed feedback control (DFC) and complex polynomial mappings of the unit disc is established. The explicit form of extremal polynomials turns out to be related with the Fejer polynomials. The…
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…
Effects of time-delayed-feedback on pattern formation are studied in symmetrical bistable media. The results show that the time delay alters the behavior of the front bifurcation remarkably. The critical point of the Nonequilibrium…
We consider state-feedback predictor-based control of networked control systems with large time-varying communication delays. We show that even a small controller-to-actuators delay uncertainty may lead to a non-small residual error in a…
This study proposes a delay-compensated feedback controller based on proximal policy optimization (PPO) reinforcement learning to stabilize traffic flow in the congested regime by manipulating the time-gap of adaptive cruise…
The spiking properties of a subcritical Hopf oscillator with a time delayed nonlinear feedback is investigated. Finite time delay is found to significantly affect both the statistics and the fine structure of the spiking behavior. These…
This paper enhances the feedback linearization controller for multirotors with a learned acceleration error model and a thrust input delay mitigation model. Feedback linearization controllers are theoretically appealing but their…
This paper proposes a composite adaptive control architecture using dual adaptation scheme for dynamical systems comprising time-varying uncertain parameters. While majority of the adaptive control schemes in literature address the case of…
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…
Control Barrier Functions (CBFs) have emerged as a powerful tool in the design of safety-critical controllers for nonlinear systems. In modern applications, complex systems often involve the feedback interconnection of subsystems evolving…
A novel approach to design the feedback control based on past states is proposed for hybrid stochastic differential equations (HSDEs). This new theorem builds up the connection between the delay feedback control and the control function…