Related papers: Constructing Dynamic Feedback Linearizable Discret…
We consider the problem of discounted optimal state-feedback regulation for general unknown deterministic discrete-time systems. It is well known that open-loop instability of systems, non-quadratic cost functions and complex nonlinear…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…
This paper investigates the decentralized stabilization problem for a class of interconnected systems in the presence of non-triangular structural uncertainties and time-varying parameters, where each subsystem exchanges information only…
This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…
Feedback optimization algorithms compute inputs to a system using real-time output measurements, which helps mitigate the effects of disturbances. However, existing work often models both system dynamics and computations in either discrete…
This survey paper deals with the stabilization of nonlinear systems by analyzing the controlling method in terms of state feedback and output feedback. A brief overview of some literature on how the feedback controller of some dynamic…
We provide two solutions to the heretofore open problem of stabilization of systems with arbitrarily long delays at the input and output of a nonlinear system using output feedback only. Both of our solutions are global, employ the…
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.
A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…
One approach for feedback control using high dimensional and rich sensor measurements is to classify the measurement into one out of a finite set of situations, each situation corresponding to a (known) control action. This approach…
In this work, we present a problem of simultaneous input-output feedback linearization and decoupling (non-interacting) for mechanical control systems with outputs. We show that the natural requirement of preserving mechanical structure of…
In this paper we propose dynamic output-feedback controller synthesis methods for discrete-time linear time-invariant systems. The synthesis goal is either to achieve dissipativity with respect to a given quadratic supply rate, or to…
This paper studies the construction of symbolic abstractions for nonlinear control systems via feedback refinement relation. Both the delay-free and time-delay cases are addressed. For the delay-free case, to reduce the computational…
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…
Discretizing continuous-time linear systems typically requires numerical integration. This document presents a convenient method for discretizing the dynamics, input, and process noise state-space matrices of a continuous-time linear system…
Distributed algorithms have been playing an increasingly important role in many applications such as machine learning, signal processing, and control. Significant research efforts have been devoted to developing and analyzing new algorithms…
The aim of this paper is to present a symbolic computational algorithm that will allow us to deal with the feedback stabilization problem for continuous nonlinear polynomial systems. The overall approach is based on a methodology that…
Through the method of Learning Feedback Linearization, we seek to learn a linearizing controller to simplify the process of controlling a car to race autonomously. A soft actor-critic approach is used to learn a decoupling matrix and drift…
In this paper we first study the fixed-time stabilizability of discrete-time switched linear control systems. Using a geometric approach, we derive conditions under which such systems can be stabilized within a prescribed number of steps,…