Related papers: Geometric Stabilization of Virtual Nonlinear Nonho…
Dynamical Systems (DS) are an effective and powerful means of shaping high-level policies for robotics control. They provide robust and reactive control while ensuring the stability of the driving vector field. The increasing complexity of…
This study proposes a method for designing stabilizing suboptimal controllers for nonlinear stochastic systems. These systems include time-invariant stochastic parameters that represent uncertainty of dynamics, posing two key difficulties…
Stabilizing vertical dynamics for on-road and off-road vehicles is an important research area that has been looked at mostly from the point of view of ride comfort. The advent of autonomous vehicles now shifts the focus more towards…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
We present a critical advance in experimental testing of nonlinear structures. Traditional quasi-static experimental methods control the displacement or force at one or more load-introduction points on a structure. This approach is unable…
Given a multi-input, nonlinear, time-invariant, control-affine system and a controlled invariant, closed, embedded submanifold $\mathsf{N}$, the local transverse feedback linearization (TFL) problem seeks a coordinate and feedback…
We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers. Given the intrinsically coupled translational and rotational dynamics of such vehicles, we first discuss some…
This paper investigates the finite time stabilization problem for a class of nonlinear systems with unknown control directions and unstructured uncertainties. The unstructured uncertainties indicate that not only the parameters but also the…
Very high dimensional nonlinear systems arise in many engineering problems due to semi-discretization of the governing partial differential equations, e.g. through finite element methods. The complexity of these systems present…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
Assessing the boundedness and stability of vector nonlinear systems with variable delays and coefficients remains a challenging problem with broad applications in science and engineering. Existing methods tend to produce overly conservative…
We present an algorithm of control synthesis for nonlinear switched systems, based on an existing procedure of state-space bisection and made available for nonlinear systems with the help of validated simulation. The use of validated…
We consider nonholonomic systems with nonlinear restrictions with respect to the velocities. The mathematical problem is formulated by means of the Voronec equations extended to the nonlinear case. The main point of the paper is the balance…
This paper studies (single-time and multitime) optimal control problems on a nonholonomic manifold (described either by the kernel of a Gibbs-Pfaff form or by the span of appropriate vector fields). For both descriptions we analyse:…
This paper deals with the problem of boundary stabilization of first-order n\times n inhomogeneous quasilinear hyperbolic systems. A backstepping method is developed. The main result supplements the previous works on how to design…
This paper studies static output feedback stabilization of continuous-time (incrementally) passive nonlinear systems where the control actions can only be chosen from a discrete (and possibly finite) set of points. For this purpose, we are…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
We design observer-based controllers to stabilise abstract linear boundary control systems on Hilbert spaces. Our main results introduce conditions for exponential, strong, and polynomial stability, and establish external well-posedness of…
Using dynamic models of tensegrity structures, we derive provable, distributed control laws for stabilizing and changing the shape of a formation of vehicles in the plane. Tensegrity models define the desired, controlled, multi-vehicle…