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The main objective of this paper is to propose an alternative procedure to carry out one of the key steps of immersion and invariance stabilising controller design. Namely, the one that ensures attractivity of the manifold whose internal…
Non-linear dynamical systems represent a compact, flexible, and robust tool for reactive motion generation. The effectiveness of dynamical systems relies on their ability to accurately represent stable motions. Several approaches have been…
A marine vessel is a nonlinear system subject to irregular disturbances such as wind and waves, which cause tracking errors between the nominal and actual trajectories. In this study, a nonlinear vessel maneuvering model that includes a…
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…
Reinforcement Learning (RL) of robotic manipulation skills, despite its impressive successes, stands to benefit from incorporating domain knowledge from control theory. One of the most important properties that is of interest is control…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
An extremely schematic model of the forces acting an a sailing yacht equipped with a system of foils is here presented and discussed. The role of the foils is to raise the hull from the water in order to reduce the total resistance and then…
We consider the motion of a rigid body immersed in a two-dimensional viscous incompressible fluid with Navierslip-with-friction conditions at the solid boundary. The fluid-solid system occupies the whole plane. We provethe small-time exact…
Results on the problem of stabilizing a nonlinear continuous-time system by a finite number of control or measurement values are presented. The basic tool is a discontinuous version of the so-called semi-global backstepping lemma. We derive…
This paper addresses the problem of obtaining low-order models of fluid flows for the purpose of designing robust feedback controllers. This is challenging since whilst many flows are governed by a set of nonlinear, partial…
Immersion and Invariance is a technique for the design of stabilizing and adaptive controllers and state observers for nonlinear systems. In all these applications the problem considered is the stabilization of equilibrium points. Motivated…
Liquid films on moving substrates are used in dip-coating processes to form uniform protective layers. Controlling free-surface waves is essential due to the film's inherent linear instability. Therefore, we develop a linear feedback…
A class of nonlinear control-affine systems with bounded time-varying drift is considered. It is assumed that the control vector fields together with their iterated Lie brackets satisfy Hormander's condition in a neighborhood of the origin.…
This paper presents a proposed method of autonomous control for docking tasks of a single-seat personal mobility vehicle. We proposed a non-linear model predictive control (NMPC) based visual servoing to achieves the desired autonomous…
We study the stationary flow of incompressible micropolar fluid in a thin three-dimensional domain under Navier slip boundary condition for the velocity and no-spin condition for microrotation. After rescaling the governing equations, we…
The dead-zone is one of the most common hard nonlinearities in industrial actuators and its presence may drastically compromise control systems stability and performance. In this work, an adaptive variable structure controller is proposed…
This paper provides new analytic tools for a rigorous control formulation and stability analysis of sliding mode-multimodel controller (SM-MMC). In this way to minimise the chattering effect we will adopt as a starting point the multimodel…
Planning accurate manipulation for deformable objects requires prediction of their state. The prediction is often complicated by a loss of stability that may result in collapse of the deformable object. In this work, stability of a fabric…
We present an estimator-based control design procedure for flow control, using reduced-order models of the governing equations, linearized about a possibly unstable steady state. The reduced models are obtained using an approximate balanced…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…