Related papers: A survey of modularized backstepping control desig…
Nonlinear control-affine systems with time-varying vector fields are considered in the paper. We propose a unified control design scheme with oscillating inputs for solving the trajectory tracking and stabilization problems. This…
This paper develops a control and estimation design for the one-phase Stefan problem. The Stefan problem represents a liquid-solid phase transition as time evolution of a temperature profile in a liquid-solid material and its moving…
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…
If embedded with command filter properly, the implementation of backstepping design could be dramatically simplified. In this paper, we introduce a command filter with time-varying gain and integrate it with backstepping design, resulting…
Learning and synthesizing stabilizing controllers for unknown nonlinear control systems is a challenging problem for real-world and industrial applications. Koopman operator theory allows one to analyze nonlinear systems through the lens of…
We consider nonlinear control systems for which there exist some structural obstacles to the design of classical continuous stabilizing feedback laws. More precisely, it is studied systems for which the backstepping tool for the design of…
Most of the rigid-body systems which evolve on nonlinear Lie groups where Euclidean control designs lose geometric meaning. In this paper, we introduce a log-linear backstepping control law on SE2(3) that preserves full…
This article is concerned with stability analysis and stabilization of randomly switched nonlinear systems. These systems may be regarded as piecewise deterministic stochastic systems: the discrete switches are triggered by a stochastic…
Fixed-time stable dynamical systems are capable of achieving exact convergence to an equilibrium point within a fixed time that is independent of the initial conditions of the system. This property makes them highly appealing for designing…
This paper is concerned with model reference adaptive controller design for a class of nonlinear fractional order systems. Recent works on this topic rarely include direct methods and they are mostly based on indirect methods where the…
This brief constructs the adaptive backstepping control scheme for a class of pure-feedback systems with input delay and full state constraints. With the help of Mean Value Theorem, the pure-feedback system is transformed into…
Contraction analysis is a stability theory for nonlinear systems where stability is defined incrementally between two arbitrary trajectories. It provides an alternative framework in which to study uncertain interconnections or systems with…
A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…
In this work, we present a Lyapunov framework for establishing stability with respect to a compact set for a nested interconnection of nonlinear dynamical systems ordered from slow to fast according to their convergence rates, where each of…
We propose a general strategy for feedback control design of complex dynamical systems exploiting the nonlinear mechanisms in a systematic unsupervised manner. These dynamical systems can have a state space of arbitrary dimension with…
This paper investigates the mean square exponential stabilization problem for a class of coupled PDE-ODE systems with Markov jump parameters. The considered system consists of multiple coupled hyperbolic PDEs and a finite-dimensional ODE,…
We consider output-feedback stabilization problems for a class of two-component linear parabolic systems with boundary actuation and measurement. The state-feedback control laws are obtained using backstepping method and require measurement…
Tube-enhanced multi-stage nonlinear model predictive control is a robust control scheme that can handle a wide range of uncertainties with reduced conservatism and manageable computational complexity. In this paper, we elaborate on the…
This paper presents an approach to systematically design sliding mode control and manifold to stabilize nonlinear uncertain systems. The objective is also accomplished to enlarge the inner bound of region of attraction for closed-loop…
Control Lyapunov function is a central tool in stabilization. It generalizes an abstract energy function -- a Lyapunov function -- to the case of controlled systems. It is a known fact that most control Lyapunov functions are non-smooth --…