Related papers: Using dynamic extensions for the backstepping cont…
We address the problem of dynamic output feedback stabilization at an unobservable target point. The challenge lies in according the antagonistic nature of the objective and the properties of the system: the system tends to be less…
The increasing ease of obtaining and processing data together with the growth in system complexity has sparked the interest in moving from conventional model-based control design towards data-driven concepts. Since in many engineering…
We study the stability of unstable steady states in scalar retarded time-delayed systems subjected to a variable-delay feedback control. The important aspect of such a control problem is that time-delayed systems are already…
Optimal nonlinear damping control was recently introduced for the second-order SISO systems, showing some advantages over a classical PD feedback controller. This paper summarizes the main theoretical developments and properties of the…
This paper provides observer-based sampled-data and event-triggered boundary control strategies for a class of reaction-diffusion PDEs with collocated sensing and Robin actuation. Infinite-dimensional backstepping design is used as the…
This article deals with the implementation of the Smith Predictor for state feedback control in state space representation. The desired control law, obtained using partial differential equations and backstepping control, contains an…
This paper presents a novel control structure and control synthesis method for regulating the output voltage/frequency and power injection of DC-AC inverters. The traditional droop method offers attractive solution to achieve compromise…
We develop backstepping state feedback control to stabilize a moving shockwave in a freeway segment under bilateral boundary actuations of traffic flow. A moving shockwave, consisting of light traffic upstream of the shockwave and heavy…
The discrete-time robust repetitive control (RC, or repetitive controller, also designated RC) problem for nonlinear systems is both challenging and practical. This paper proposes a discrete-time output-feedback RC design for a class of…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…
Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded…
We study fundamental performance limitations of distributed feedback control in large-scale networked dynamical systems. Specifically, we address the question of whether dynamic feedback controllers perform better than static (memoryless)…
In this paper, we propose a novel dynamic state-feedback controller for polytopic linear parameter-varying (LPV) systems with constant input matrix. The controller employs a projected gradient flow method to continuously improve its control…
We tackle the boundary control and estimation problems for a class of viscous Hamilton-Jacobi PDEs, considering bilateral actuation and sensing, i.e., at the two boundaries of a 1-D spatial domain. First, we solve the nonlinear trajectory…
For the sake of saving time and costs the feedback control based on discrete-time observations is used to stabilize the switching diffusion systems. Response lags are required by most of physical systems and play a key role in the feedback…
We construct a static feedback control in a trajectory sense and a dynamic feedback control to obtain the local rapid boundary stabilization of a KdV system using Gramian operators. We also construct a time-varying feedback control in the…
We present a methodology for stabilization of general nonlinear systems with actuator dynamics governed by general, quasilinear, first-order hyperbolic PDEs. Since for such PDE-ODE cascades the speed of propagation depends on the PDE state…
Robotic systems are increasingly relying on distributed feedback controllers to tackle complex and latency-prone sensing and decision problems. These demands come at the cost of a growing computational burden and, as a result, larger…
Predictor-based stabilization results are provided for nonlinear systems with input delays and a compact absorbing set. The control scheme consists of an inter-sample predictor, a global observer, an approximate predictor, and a nominal…