Related papers: Multi-Objective Complementary Control
This paper considers the fixed-time control problem of a multi-agent system composed of a class of Euler-Lagrange dynamics with parametric uncertainty and a dynamic leader under a directed communication network. A distributed fixed-time…
This paper develops a new control framework for linear parameter-varying (LPV) systems with time-varying state delays by integrating parameter-dependent Lyapunov functions with integral quadratic constraints (IQCs). A novel delay-dependent…
This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…
The recently developed labeled multi-Bernoulli (LMB) filter uses better approximations in its update step, compared to the unlabeled multi-Bernoulli filters, and more importantly, it provides us with not only the estimates for the number of…
We present a new algorithm for model predictive control of non-linear systems with respect to multiple, conflicting objectives. The idea is to provide a possibility to change the objective in real-time, e.g.~as a reaction to changes in the…
We propose a new controllability property for linear time varying control systems in finite dimension: the nonuniform complete controllability, which is halfway between the classical Kalman's properties of complete controllability and…
This published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…
In this work, a predictive control framework is presented for feedback stabilization of nonlinear systems. To achieve this, we integrate Koopman operator theory with Lyapunov-based model predictive control (LMPC). The main idea is to…
This technical report presents a method for designing a constrained output-feedback model predictive controller (MPC) that behaves in the same way as an existing baseline stabilising linear time invariant output-feedback controller when…
For systems that are not observable at the very equilibrium of interest to be stabilized, output-feedback stabilization is considerably challenging. In this paper we solve this control problem for the case-study of a second-order system…
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.…
A Lyapunov-based method is presented for stabilizing and controlling of closed quantum systems. The proposed method is constructed upon a novel quantum Lyapunov function of the system state trajectory tracking error. A positive-definite…
We discuss the multilevel control problem for linear dynamical systems, consisting in designing a piece-wise constant control function taking values in a finite-dimensional set. In particular, we provide a complete characterization of…
This paper studies the problem of steering a linear time-invariant system subject to state and input constraints towards a goal location that may be inferred only through partial observations. We assume mixed-observable settings, where the…
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. A dual relationship is…
The paper studies digital redesign of linear time-invariant analog controllers under intermittent sampling. The sampling pattern is only assumed to be uniformly bounded, but otherwise irregular and unknown a priori. The contribution of the…
This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying…
Achieving optimal steady-state performance in real-time is an increasingly necessary requirement of many critical infrastructure systems. In pursuit of this goal, this paper builds a systematic design framework of feedback controllers for…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
A dual-rate control system is a hybrid system composed of continuous-time and discrete-time elements with two sampling frequencies. In this work, a new frequency domain analysis and design approach, based on the Quantitative Feedback Theory…