Related papers: Stabilization of a Nonholonomic Car Model with Off…
We propose an encoding and control strategy for the stabilization of switched systems with limited information, supposing the controller is given for each mode. Only the quantized output and the active mode of the plant at each sampling…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
A delayed feedback control framework for stabilizing unstable periodic orbits of linear periodic time-varying systems is proposed. In this framework, act-and-wait approach is utilized for switching a delayed feedback controller on and off…
We consider linear time-invariant dynamic systems in the single-input, single-output (SISO) framework. In particular, we consider stabilization of an inverted pendulum on a cart using a force on the cart. This system is easy to stabilize…
We propose and analyze a protocol for stabilizing a maximally entangled state of two noninteracting qubits using active state-dependent feedback from a continuous two-qubit half-parity measurement in coordination with a concurrent,…
The problem of stabilization of a system of coupled PDEs of the forth-order by means of boundary control is investigated. The considered setup arises from the classical Euler-Bernoulli beam model, and constitutes a generalization of…
In this work, we consider the problem of event-triggered implementation of control laws designed for the local stabilization of nonlinear systems with center manifolds. We propose event-triggering conditions which are derived from a local…
The theory of nonlinear balanced truncation provides a system-theoretic framework for model reduction that preserves important properties such as stability, controllability, and observability. We present a scalable algorithm for computing…
H2-conic controller design seeks to minimize the closed-loop H2-norm for a nominal linear system while satisfying the Conic Sector Theorem for nonlinear stability. This problem has only been posed with limited design freedom, as opposed to…
The paper shows that positive linear systems can be stabilized using positive Luenberger-type observers. This is achieved by structuring the observer as monotonically converging upper and lower bounds on the state. Analysis of the…
This work presents a method to obtain inner and outer approximations of the region of attraction of a given target set as well as an admissible controller generating the inner approximation. The method is applicable to constrained…
In this paper, we present a stabilizing Nonlinear Model Predictive Control (NMPC) scheme tailored for a class of nonholonomic systems with drift, where the acceleration is laterally restrained. Examples include a mobile robot with drifting…
In this paper, we formulate an optimization-based control-by-interconnection approach to the stabilization problem of nonlinear port-Hamiltonian systems. Motivated by model predictive control, the feedback is defined as an initial part of a…
We consider a kinematic model of a wheeled mobile robot controlled by translational and angular velocities. For this class of nonholonomic systems, a family of time-varying feedback controllers was proposed in our previous works using…
In this work we consider a half car model which is subject to unknown but measurable disturbances. To control this system, we impose a combination of model predictive control without stabilizing terminal constraints or cost to generate a…
In recent years, Neural Networks (NNs) have been employed to control nonlinear systems due to their potential capability in dealing with situations that might be difficult for conventional nonlinear control schemes. However, to the best of…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…
Exact discrete-time models of nonlinear systems are difficult or impossible to obtain, and hence approximate models may be employed for control design. Most existing results provide conditions under which the stability of the approximate…