Related papers: Open-loop control design for contraction in affine…
This work studies the design problem of feedback stabilizers for discrete-time systems with input delays. A backstepping procedure is proposed for disturbance-free discrete-time systems. The feedback law designed by using backstepping…
This paper provides necessary and sufficient conditions for exponential stabilization of distributed systems affine in control, evolving in a Banach state space, by means of constant controls. An explicit estimate of the convergence speed…
Sufficient conditions are established for sampled-data feedback global asymptotic stabilization for nonlinear autonomous systems. One of our main results is an extension of the well known Artstein-Sontag theorem on feedback stabilization…
We study convergence and stability properties of control-affine systems. Our considerations are motivated by the problem of stabilizing a control-affine system by means of output feedback for states in which the output function attains an…
This paper deals with the stabilization of a coupled system composed by an infinite-dimensional system and an ODE. Moreover, the control, which appears in the dynamics of the ODE, is subject to a general class of nonlinearities. Such a…
The elastic behavior of materials operating in the linear regime is constrained, by definition, to operations that are linear in the imposed deformation. Though the nonlinear regime holds promise for new functionality, the design in this…
This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and $ \mathcal{L}_2 $-gain performance with respect to a user-defined set of reference…
We present a data-driven nonlinear predictive control approach for the class of discrete-time multi-input multi-output feedback linearizable nonlinear systems. The scheme uses a non-parametric predictive model based only on input and noisy…
In this paper, we propose a new control design scheme for solving the obstacle avoidance problem for nonlinear driftless control-affine systems. The class of systems under consideration satisfies controllability conditions with iterated Lie…
Under a regularity assumption we prove that reachability in fixed time for nonlinear control systems is robust under control sampling.
This paper deals with the problem of string stability of interconnected systems with double-integrator open loop dynamics (e.g.~acceleration-controlled vehicles). We analyze an asymmetric bidirectional linear controller, where each vehicle…
Our aim in this paper is to investigate the asymptotic behavior of solutions of the perturbed linear fractional differential system. We show that if the original linear autonomous system is asymptotically stable then under the action of…
It is known that the stability of a feedback interconnection of two linear time-invariant systems implies that the graphs of the open-loop systems are quadratically separated. This separation is defined by an object known as the multiplier.…
Model inversion is a fundamental technique in feedforward control. Unstable inverse models present a challenge in that useful feedforward control trajectories cannot be generated by directly propagating them. Stable inversion is a process…
A nonovershooting finite-time control design for linear multi-input system is proposed by upgrading a linear (asymptotic) nonovershooting stabilizer to a homogeneous one. Robustness of the safety and stability properties is analyzed using…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
This paper explores the properties of adaptive systems with closed-loop reference models. Using additional design freedom available in closed-loop reference models, we design new adaptive controllers that are (a) stable, and (b) have…
In this letter, a new notion of stability is introduced, which is called triangular stability. A system is called triangularly stable if the norm of its state vector is bounded by a decreasing linear function of time such that its…
In this paper we develop novel results on self triggering control of nonlinear systems, subject to perturbations and actuation delays. First, considering an unperturbed nonlinear system with bounded actuation delays, we provide conditions…
In this article, we give a condition for the global controllability of affine nonlinear control systems with drifts on Euclidean spaces. Under regularity assumptions, the condition is necessary and sufficient in the codimension-1 and…