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Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration…
Nonlinear control-affine systems with time-varying vector fields are considered in the paper. We propose a unified control design scheme with oscillating inputs for solving the trajectory tracking and stabilization problems. This…
This article presents novel methods for synthesizing distributionally robust stabilizing neural controllers and certificates for control systems under model uncertainty. A key challenge in designing controllers with stability guarantees for…
We propose a general strategy for feedback control design of complex dynamical systems exploiting the nonlinear mechanisms in a systematic unsupervised manner. These dynamical systems can have a state space of arbitrary dimension with…
The growing interest in space activities has led to the emergence of new space operators and innovative mission concepts. Small satellites such as CubeSats reduce mission costs and are typically deployed in constellations or formation…
The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV…
This paper studies the design of a finite-dimensional output feedback controller for the stabilization of a reaction-diffusion equation in the presence of a sector nonlinearity in the boundary input. Due to the input nonlinearity, classical…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
In this paper, we have studied the control problem of target-point based path following for car-type vehicles. This special path following task arises from the needs of vision based guidance systems, where a given target-point located ahead…
This paper is concerned with model reference adaptive controller design for a class of nonlinear fractional order systems. Recent works on this topic rarely include direct methods and they are mostly based on indirect methods where the…
This paper considers the problem of regulating a dynamical system to equilibria that are defined as solutions of an input- and state-constrained optimization problem. To solve this regulation task, we design a state feedback controller…
Firstly, a new state feedback model reference adaptive control approach is developed for uncertain systems with gain scheduled reference models in a multi-input multi-output (MIMO) setting. Specifically, adaptive state feedback for output…
In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and,…
This paper proposes a novel nonlinear sliding mode state feedback controller for perturbed second-order systems. In analogy to a linear proportional-derivative (PD) feedback control, the proposed nonlinear scheme uses the output of interest…
Numerical solutions for the optimal feedback stabilization of discrete time dynamical systems is the focus of this paper. Set-theoretic notion of almost everywhere stability introduced by the Lyapunov measure, weaker than conventional…
Feedback control systems using sensors and actuators such as piezoelectric sensors and actuators, micro-electro-mechanical systems (MEMS) sensors and opto-mechanical sensors, are allowing new advances in designing such high precision…
This paper develops a semidefinite-programming-based method for online feedback control of nonlinear systems using a state-dependent representation. We formulate sequences of time-varying SDPs whose optimal solutions jointly yield a…
Robust control problems have significant practical implications since external disturbances can significantly impact the performance of control methods. Existing robust control methods excel at control-affine systems but fail at neural…
The paper addresses the problem of controller synthesis for control-affine nonlinear systems to meet reach-avoid-stay specifications. Specifically, the goal of the research is to obtain a closed-form control law ensuring that the…