Related papers: Input-output linearization and decoupling of mecha…

We obviate the use of observers for the purpose of output feedback tracking control of Lagrangian systems and solve some long-standing yet well-documented open problems. As often implemented in control practice, we replace unavailable…

We present a general control-theoretic framework for constructing and analyzing random decoupling schemes, applicable to quantum dynamical control of arbitrary finite-dimensional composite systems. The basic idea is to design the control…

There is a growing interest in data-driven control of nonlinear systems over the last years. In contrast to related works, this paper takes a step back and aims to solve the output matching problem, a problem closely related to the…

Linearized models of power systems are often desirable to formulate tractable control and optimization problems that still reflect real-world physics adequately under various operating conditions. In this paper, we propose an approach that…

The design of direct data-based controllers has become a fundamental part of control theory research in the last few years. In this paper, we consider three classes of data-based state feedback control problems for linear systems. These…

Coupling of chaotic oscillators has evidenced conditions where synchronization is possible, therefore a nonlinear system can be driven to a particular state through input from a similar oscillator. Here we expand this concept of control of…

This paper deals with the output feedback stabilization problem of nonlinear multi-input multi-output systems having an uncertain input gain matrix. It is assumed that the system has a well-defined vector relative degree and that the zero…

This paper develops a sequential-linearization feedback optimization framework for driving nonlinear dynamical systems to an optimal steady state. A fundamental challenge in feedback optimization is the requirement of accurate first-order…

This paper addresses the mean-square optimal control problem for \a class of discrete-time linear systems with a quasi-colored control-dependent multiplicative noise via output feedback. The noise under study is novel and shown to have…

This paper investigates the problem of synchronization for nonlinear systems. Following a Lyapunov approach, we firstly study global synchronization of nonlinear systems in canonical control form with both distributed…

We consider the problem of robotic planning under uncertainty. This problem may be posed as a stochastic optimal control problem, complete solution to which is fundamentally intractable owing to the infamous curse of dimensionality. We…

The main drawbacks of input-output linearizing controllers are the need for precise dynamics models and not being able to account for input constraints. Model uncertainty is common in almost every robotic application and input saturation is…

In this paper we propose a new observability property for nonautonomous linear control systems in finite dimension; the nonuniform complete observability, which is more general than the uniform complete observability. The main result of…

We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following…

We critically evaluate the most widespread assumption in the theoretical description of coherent control strategies for open quantum systems. We show that, for non-Markovian open systems dynamics, this fixed-dissipator assumption leads to a…

We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…

This paper demonstrates the first application of feedback linearization to replicator dynamics, driving the evolution of non-convergent evolutionary games to systems with guaranteed global asymptotic stability.

Coupled human balancing tasks are investigated based on both pseudo-neural controllers characterized by time-delayed feedback with random gain and natural human balancing tasks. It is shown numerically that, compared to single balancing…

In this article, we study the problem of designing a Decoherence Control for quantum systems with the help of a scalable ancillary quantum control and techniques from geometric control theory, in order to successfully and completely…

This paper proposes a feedback linearizing law for single-track dynamic models, allowing the design of a trajectory tracking controller exploiting linear control theory. The main characteristics of this algorithm are its simplicity, its…