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The control properties of discrete-time switched linear systems (SLS) with switching signals generated by logical dynamic systems are studied using the semi-tensor product (STP) approach. With the algebraic state space representation…
Recent years have witnessed the rapid advancement of understanding the control mechanism of networked dynamical systems (NDSs), which are governed by components such as nodal dynamics and topology. This paper reveals that the critical…
We prove a small-gain theorem for interconnections of $n$ nonlinear heterogeneous input-to-state stable (ISS) control systems of a general nature, covering partial, delay and ordinary differential equations. Furthermore, for the same class…
Proportional-Integrator-Derivative (PID) controller is used in a wide range of industrial and experimental processes. There are a couple of offline methods for tuning PID gains. However, due to the uncertainty of model parameters and…
Since the concept of input-to-state stability (ISS) was introduced, it has been extensively investigated for finite-dimensional control systems and has recently received attention for infinite-dimensional systems. While numerical techniques…
This paper studies the synchronization of a multi-agent system where the agents are coupled through heterogeneous controller gains. Synchronization refers to the situation where all the agents in a group have a common velocity direction. We…
Achieving stable hopping has been a hallmark challenge in the field of dynamic legged locomotion. Controlled hopping is notably difficult due to extended periods of underactuation combined with very short ground phases wherein ground…
This paper studies the design of feedback controllers to steer a switching linear time-invariant dynamical system towards the solution trajectory of a time-varying convex optimization problem. We propose two types of controllers: (i) a…
In this paper, we extend the popular integral control technique to systems evolving on Lie groups. More explicitly, we provide an alternative definition of "integral action" for proportional(-derivative)-controlled systems whose…
Proportional-Integral-Derivative (PID) control has been the workhorse of control technology for about a century. Yet to this day, designing and tuning PID controllers relies mostly on either tabulated rules (Ziegler-Nichols) or on classical…
Modern control theories such as systems engineering approaches try to solve nonlinear system problems by revelation of causal relationship or co-relationship among the components; most of those approaches focus on control of sophisticatedly…
The paper presents a hybrid system controller, incorporating a neural and an LQG controller. The neural controller has been optimized by genetic algorithms directly on the inverted pendulum system. The failure free optimization process…
This paper investigates real-time control strategies for dynamical systems that involve frictional contact interactions. Hybridness and underactuation are key characteristics of these systems that complicate the design of feedback…
The control of ensembles of dynamical systems is an intriguing and challenging problem, arising for example in quantum control. We initiate the investigation of optimal control of ensembles of discrete-time systems, focusing on minimising…
This paper considers a strongly connected network of agents, each capable of partially observing and controlling a discrete-time linear time-invariant (LTI) system that is jointly observable and controllable. Additionally, agents…
In the discrete modeling approach for hybrid control systems, the continuous plant is reduced to a discrete event approximation, called the DES-plant, that is governed by a discrete event system, representing the controller. The…
In this paper, we investigate the necessary and sufficient conditions under which a class of nonlinear systems are state feedback equivalent to nonlinear negative imaginary (NI) systems with positive definite storage functions. The…
Relaxed conditions are given for stability of a feedback system consisting of an exponentially stable multi-input multi-output nonlinear plant and an integral controller. Roughly speaking, it is shown that if the composition of the plant…
A three-dimensional (3D) integrated guidance and control (IGC) design approach is proposed by using small-gain theorem in this paper. The 3D IGC model is formulated by combining nonlinear pursuer dynamics with the nonlinear dynamics…
We consider strongly monotone games with convex separable coupling constraints, played by dynamical agents, in a partial-decision information scenario. We start by designing continuous-time fully distributed feedback controllers, based on…