Related papers: Model-Based Event-Triggered Implementation of Hybr…
This note presents the design and analysis of an adaptive controller for a class of linear plants in the presence of output feedback. This controller makes use of a closed-loop reference model as an observer, and guarantees global stability…
We present a stabilizing output-feedback controller for nonlinear finite and infinite-dimensional control systems governed by monotone operators that respects given input constraints. In particular, we show under a detectability-like…
We investigate the engineering scenario where the objective is to synchronize heterogeneous oscillators in a distributed fashion. The internal dynamics of each oscillator are general enough to capture their time-varying natural frequency as…
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…
This work presents an event-triggered switching control framework for a class of nonlinear underactuated multi-channel systems with input constraints. These systems are inspired by cooperative manipulation tasks involving underactuation,…
We present data-based conditions for enforcing contractivity via feedback control and obtain desired asymptotic properties of the closed-loop system. We focus on unknown nonlinear control systems whose vector fields are expressible via a…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
This paper presents a novel approach to including non-instantaneous discrete control transitions in the linear hybrid automaton approach to simulation and verification of hybrid control systems. In this paper we study the control of a…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
We present a simple model-free control algorithm that is able to robustly learn and stabilize an unknown discrete-time linear system with full control and state feedback subject to arbitrary bounded disturbance and noise sequences. The…
Most approaches for self-triggered control (STC) of nonlinear networked control systems (NCS) require measurements of the full system state to determine transmission times. However, for most control systems only a lower dimensional output…
In this paper we propose a model predictive control scheme for constrained fractional-order discrete-time systems. We prove that all constraints are satisfied at all time instants and we prescribe conditions for the origin to be an…
In this paper, we address the exponential stabilization of the linearized FitzHugh-Nagumo system using an event-triggered boundary control strategy. Employing the backstepping method, we derive a feedback control law that updates based on…
This paper deals with the finite-time stabilization of a class of nonlinear infinite-dimensional systems. First, we consider a bounded matched perturbation in its linear form. It is shown that by using a set-valued function, both the…
In this paper, we will investigate the moment exponential stabilization of highly nonlinear hybrid stochastic differential delay equations. A periodically intermittent controller based on discrete time state observations with asynchronous…
Delays are ubiquitous in modern hybrid systems, which exhibit both continuous and discrete dynamical behaviors. Induced by signal transmission, conversion, the nature of plants, and so on, delays may appear either in the continuous…
We propose self-triggered control schemes for nonlinear systems with quantized state measurements. Our focus lies on scenarios where both the controller and the self-triggering mechanism receive only the quantized state at each sampling…
Event-triggered networked control of a linear dynamical system is investigated. Specifically, the dynamical system and the controller are assumed to be connected through a communication channel. State and control input information packets…
In this paper, we consider the event-triggered cooperative robust practical output regulation problem for a class of linear minimum-phase multi-agent systems. We first convert our problem into the cooperative robust practical stabilization…
This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…