Related papers: Model-Based Event-Triggered Implementation of Hybr…
We consider a general class of translation-invariant systems with a specific category of output nonlinearities motivated by biological sensing. We show that no dynamic output feedback can stabilize this class of systems to an isolated…
Motivated by perception-based control problems in autonomous systems, this paper addresses the problem of developing feedback controllers to regulate the inputs and the states of a dynamical system to optimal solutions of an optimization…
We analyze in this paper the effect of the well known intelligent proportional controller on the stability of linear control systems. Inspired by the literature on neutral time delay systems and advanced type systems, we derive sufficient…
This work investigates the coverage control problem over a static, compact, and convex workspace and develops a hybrid extension of the continuous-time Lloyd algorithm. Each agent in a multi-agent system (MAS) is equipped with a timer…
In Networked Control Systems (NCS), the absence of physical communication links in the loop leads to relevant issues, such as measurement delays and asynchronous execution of the control commands. These issues may lead to unwanted control…
This paper proposes a control strategy consisting of a robust controller and an Echo State Network (ESN) based control law for stabilizing a class of uncertain nonlinear discrete-time systems subject to persistent disturbances. Firstly, the…
This article aims to provide an accessible, tutorial-style introduction to hybrid extremum-seeking systems, which are model-free, feedback-optimization controllers that incorporate hybrid dynamics, meaning both continuous-time and…
This article introduces the problem of robust event disturbance rejection. Inspired by the design principle of linear output regulation, a control structure based on excitable systems is proposed. Unlike the linear case, contraction of the…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
This paper investigates the stability properties and performance of super-twisting sliding-mode control loops subject to periodic perturbations. Although there exist conditions on the control gains that guarantee finite-time stability of…
This paper proposes an event-triggered boundary control for the safe stabilization of the Stefan PDE system with actuator dynamics. The control law is designed by applying Zero-Order Hold (ZOH) to the continuous-time safe stabilizing…
Recent advances in learning for control allow to synthesize vehicle controllers from learned system dynamics and maintain robust stability guarantees. However, no approach is well-suited for training linear time-invariant (LTI) controllers…
Efficiently handling time-triggered and possibly nondeterministic switches for hybrid systems reachability is a challenging task. In this paper we present an approach based on conservative set-based enclosure of the dynamics that can handle…
This paper studies the tracking control problem of networked multi-agent systems under both multiple networks and event-triggered mechanisms. Multiple networks are to connect multiple agents and reference systems with decentralized…
This paper investigates the robust asymptotic stabilization of a linear time-invariant (LTI) system by a static feedback with a static state quantization. It is shown that the controllable LTI system can be stabilized to zero in a finite…
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…
We study the design problems of state observers and tracking controllers for a class of hybrid systems whose state jumps. The idea is to utilize the well-known method of gluing the jump set (a part of domain where the jumps take place) onto…
We consider third-order dynamic systems which have an integral feedback action and discontinuous relay disturbance. More specifically for the applications, the focus is on the integral plus state-feedback control of the motion systems with…
We propose a data-driven control design method for nonlinear systems that builds on kernel-based interpolation. Under some assumptions on the system dynamics, kernel-based functions are built from data and a model of the system, along with…
The integral control of positive systems using nonnegative control input is an important problem arising, among others, in biochemistry, epidemiology and ecology. An immediate solution is to use an ON-OFF nonlinearity between the controller…