Related papers: Partial Feedback Linearization Control of a Cable-…
In this paper, we provide a systematic approach for the design of stabilizing feedback controllers for nonlinear control systems using the Koopman operator framework. The Koopman operator approach provides a linear representation for a…
This paper presents the design and implementation of an assisted control technology for a small multirotor platform for aerial inspection of fixed energy infrastructure. Sensor placement is supported by a theoretical analysis of expected…
This paper introduces the concept of parameter-dependent (PD) control Lyapunov functions (CLFs) for gain-scheduled stabilization of nonlinear parameter-varying (NPV) systems. It shows that given a PD-CLF, a min-norm control law can be…
Stability and control of a non-linear system represent an important system configuration that frequently arises in practical engineering. Stability covers a vast range of systems that do not obey the superposition principle and applies to…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
Due to the requirements of high positioning accuracy, small swing angle, short transportation time, and high safety, both motion and stabilization control for an gantry crane system becomes an interesting issue in the field of control…
We present a new type of feedback linearization that is tailored for mechanical control systems. We call it a mechanical feedback linearization. Its basic feature is preservation of the mechanical structure of the system. For mechanical…
This paper presents a new aggregate power tracking control scheme for populations of thermostatically controlled loads (TCLs). The control design is performed in the framework of partial differential equations (PDEs) based on a late-lumping…
This study proposes a fuzzy-adjusted nonlinear control method based on torque jitter output limit constraints for overhead crane systems with double pendulum effects. The proposed control method can effectively suppress swing and achieve…
In this work, a predictive control framework is presented for feedback stabilization of nonlinear systems. To achieve this, we integrate Koopman operator theory with Lyapunov-based model predictive control (LMPC). The main idea is to…
In this paper, two nonlinear methods for stabilizing the orientation of a Four-Wheel Independent Drive and Steering (4WIDS) robot while in the air are analyzed, implemented in simulation, and compared. AGRO (the Agile Ground Robot) is a…
In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…
One approach to robust control for linear plants with structured uncertainty as well as for linear parameter-varying (LPV) plants (where the controller has on-line access to the varying plant parameters) is through…
This paper concerns the adaptive control problem for a class of nonlinear stochastic systems in which the state update is given by a nonlinear function of linear dynamics plus additive stochastic noise. Such systems arise in a wide range of…
This survey paper deals with the stabilization of nonlinear systems by analyzing the controlling method in terms of state feedback and output feedback. A brief overview of some literature on how the feedback controller of some dynamic…
This paper presents a novel approach to automated drifting with a standard passenger vehicle, which involves a Nonlinear Model Predictive Control to stabilise and maintain the vehicle at high sideslip angle conditions. The proposed…
In this paper, we study stabilizability of discrete-time switched linear systems where the switching signal is considered as an arbitrary disturbance (and not a control variable). We characterize feedback stabilization via necessary and…
In the paper "Control Design for UAV Quadrotors via Embedded Model Control" [1], the authors designed a complete control unit for a UAV Quadrotor, based on the Embedded Model Control (EMC) methodology, in combination with the Feedback…
An approach to stabilization of control systems with ultimately wide ranges of uncertainly disturbed parameters is offered. The method relies on using of nonlinear structurally stable functions from catastrophe theory as controllers.…