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We deduce stability results for finite control set and mixed-integer model predictive control with a downstream oversampling phase. The presentation rests upon the inherent robustness of model predictive control with stabilizing terminal…
We propose novel event-triggered synergistic controllers for nonlinear continuous-time plants by incorporating event-triggered control into stabilizing synergistic controllers. We highlight that a naive application of common…
Position and speed control of the torpedo present a real problem for the actuators because of the high level of the system non linearity and because of the external disturbances. The non linear systems control is based on several different…
This paper presents a low-complexity, model-free, output-feedback controller for a class of unknown time-varying nonlinear systems with unknown input constraints. The controller achieves the preset control accuracy when the actuator is not…
This paper presents the development of a sliding mode controller using the backstepping approach. The controller is employed to synthesize tracking errors and Lyapunov functions. A novel state-space representation is formulated by…
This paper presents an algorithm to solve non-convex optimal control problems, where non-convexity can arise from nonlinear dynamics, and non-convex state and control constraints. This paper assumes that the state and control constraints…
Explicit stabilized methods are an efficient alternative to implicit schemes for the time integration of stiff systems of differential equations in large dimension. In this paper, we derive explicit stabilized integrators of orders one and…
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…
Recently, adaptive control systems with relaxed persistent excitation (PE) conditions have been proposed to guarantee true parameter convergence and improve the transient response. However, in some cases, sufficient control performance and…
This work proposes a control law for a manipulator with the aim of realizing desired time-varying motion-force profiles in the presence of a stiff environment. In many cases, the interaction with the environment affects only one degree of…
In this paper, anti-unwinding attitude maneuver control for rigid spacecraft is considered. First, in order to avoid the unwinding phenomenon when the system states are restricted to the switching surface, a novel switching function is…
We propose a convex controller synthesis framework for a large class of constrained linear systems, including those described by (deterministic and stochastic) partial differential equations and integral equations, commonly used in fluid…
This paper focuses on adaptive control of the discrete-time linear quadratic regulator (adaptive LQR). Recent literature has made significant contributions in proving non-asymptotic convergence rates, but existing approaches have a few…
This paper considers the tracking control problem for an unknown nonlinear system with time-varying bounded disturbance subjected to a prescribed performance and input constraints. When performance and input constraints are specified…
The ever increasing complexity of real-time control systems results in significant deviations in the timing of sensing and actuation, which may lead to degraded performance or even instability. In this paper we present a method to analyze…
This paper addresses the problem of stabilization for infinite-dimensional systems. In particular, we design nonlinear stabilizers for both linear and nonlinear abstract systems. We focus on two classes of systems: the first class comprises…
In this paper, we tackle the state transformation problem in non-strict full state-constrained systems by introducing an adaptive fixed-time control method, utilizing a one-to-one asymmetric nonlinear mapping auxiliary system. Additionally,…
In this paper, two classes of continuous higher order adaptive sliding mode controllers based on barrier functions are developed for a perturbed chain of integrators with unbounded perturbations. Both classes provide finite-time convergence…
This letter demonstrates how synthetic inertia can be obtained with the control of flexible discrete devices to keep the power balance of power systems, even if the system does not include any synchronous generator or conventional…
Economic Model Predictive Control has recently gained popularity due to its ability to directly optimize a given performance criterion, while enforcing constraint satisfaction for nonlinear systems. Recent research has developed both…