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This paper presents a novel position control strategy for a single-link flexible manipulator, tailored for applications where precise position must be achieved within strict time constraints. To accomplish this objective, firstly, a nested…
In this paper, we investigate the problem of semi-global minimal time robust stabilization of analytic control systems with controls entering linearly, by means of a hybrid state feedback law. It is shown that, in the absence of minimal…
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…
When implementing a non-continuous controller for a cyber-physical system, it may happen that the evolution of the closed-loop system is not anymore piecewise differentiable along the trajectory, mainly due to conditional statements inside…
This paper deals with the stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…
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…
This paper presents a method to verify closed-loop properties of optimization-based controllers for deterministic and stochastic constrained polynomial discrete-time dynamical systems. The closed-loop properties amenable to the proposed…
This paper aims to introduce a design methodology to stabilize a chain of integrators in a fixed-time with predefined Upper Bound for the Settling-Time (UBST). This approach is based on time-varying gains (time-base generator) that become…
This paper addresses the following question: "Suppose that a state-feedback controller stabilizes an infinite-dimensional linear continuous-time system. If we choose the parameters of an event/self-triggering mechanism appropriately, is the…
This paper proposes a novel method for designing finite-horizon discrete-valued switching signals in linear switched systems based on discreteness-promoting regularization. The inherent combinatorial optimization problem is reformulated as…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
This paper develops a data-driven safe control framework for nonlinear discrete-time systems with parametric uncertainty and additive disturbances. The proposed approach constructs a data-consistent closed-loop representation that enables…
Though switched dynamical systems have shown great utility in modeling a variety of physical phenomena, the construction of an optimal control of such systems has proven difficult since it demands some type of optimal mode scheduling. In…
Robust finite-time feedback controller introduced for the second-order systems in [1] can be seen as a non-overshooting quasi-continuous sliding mode control. The paper proposes a regularization scheme to suppress inherent chattering due to…
We give a characterization of the controllability for discrete-time linear systems with convex output constraints. It extends all previously known characterizations in the literature, as well as our previous results on controllability of…
This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly…
This work studies data-driven switched controller design for discrete-time switched linear systems. Instead of having access to the full system dynamics, an initialization phase is performed, during which noiseless measurements of the state…
In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…
We analyze the stability of general nonlinear discrete-time stochastic systems controlled by optimal inputs that minimize an infinite-horizon discounted cost. Under a novel stochastic formulation of cost-controllability and detectability…
In this paper, we explore the discrete time sparse feedback control for a linear invariant system, where the proposed optimal feedback controller enjoys input sparsity by using a dynamic linear compensator, i.e., the components of feedback…