Related papers: Output-based receding horizon stabilizing control
We propose a geometric approach to distance-based formation control modeled on a minimum-norm lifting of Riemannian gradient descent in edge-space to node-space. This yields a unified family of controllers, including the classical gradient…
This paper addresses formation control of reduced attitudes in which a continuous control protocol is proposed for achieving and stabilizing all regular polyhedra (also known as Platonic solids) under a unified framework. The protocol…
We address the conditions and design of controllers and observers for homogeneous networks of linear MIMO agents. We develop networked controllers and observers that ensure the stability of both the system state and the estimation error,…
In this paper, based on real-time nonlinear receding horizon control methodology, a novel approach is developed for parameter estimation of time invariant and time varying nonlinear dynamical systems in chaotic environments. Here, the…
We prove global stabilization of the marine riser models using a feedback controller that depend on finitely many finite-volume elements and finitely many nodal observables. Our approach is based on a feedback control design for dissipative…
The purpose of this paper is to explore the concept of the regional boundary asymptotic gradient full order observer (RBAGFO-observer) in connection with the characterizations of sensors structures. Then, we present various results related…
A finite-horizon optimal estimation problem for discrete-time linear systems is formulated and solved. The formulation is a natural extension of that which yields a deadbeat observer. The resultant observer is the dual of the controller…
This paper proposes an algebraic observer-based modulating function approach for linear time-variant systems and a class of nonlinear systems with discrete measurements. The underlying idea lies in constructing an observability…
This paper revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the…
Ensuring nominal asymptotic stability of the Nonlinear Model Predictive Control controller is not trivial. Stabilizing ingredients such as terminal penalty term and terminal region are crucial in establishing the asymptotic stability.…
This paper introduces a new approach for output feedback stabilization of SISO systems which, unlike most of the techniques found in the literature, does not use high-gain observers and control input saturation to achieve separation between…
This paper concerns the problem of adaptive output regulation for multivariable nonlinear systems in normal form. We present a regulator employing an adaptive internal model of the exogenous signals based on the theory of nonlinear…
This paper presents iterative Sequential Action Control (iSAC), a receding horizon approach for control of nonlinear systems. The iSAC method has a closed-form open-loop solution, which is iteratively updated between time steps by…
This paper investigates the output feedback boundary control of reaction-diffusion equations with either distributed or boundary measurement by means of a finite-dimensional observer. A constructive method dealing with the design of…
The control of field robots in varying and uncertain terrain conditions presents a challenge for autonomous navigation. Online estimation of the wheel-terrain slip characteristics is essential for generating the accurate control predictions…
By optimizing the predicted performance over a receding horizon, model predictive control (MPC) provides the ability to enforce state and control constraints. The present paper considers an extension of MPC for nonlinear systems that can be…
This manuscript contains technical details of recent results developed by the authors on shrinking horizon predictive control with a move-blocking strategy.
Model-based controllers can offer strong guarantees on stability and convergence by relying on physically accurate dynamic models. However, these are rarely available for high-dimensional mechanical systems such as deformable objects or…
Standard geometric control relies on force-moment decoupling, an assumption that breaks down in many aerial platforms due to spurious forces naturally induced by control moments. While strategies for such coupled systems have been validated…
In this paper, we design an output-feedback controller to stabilize n +m hetero-directional transport partial differential equations (PDEs) coupled on both domain boundaries to ordinary differential equations (ODEs). This class of systems…