Related papers: Finite-Time Teleoperation of Euler-Lagrange System…
This paper presents a technique to drive the state of a constrained nonlinear system to a specified target state in finite time, when the system suffers a partial loss in control authority. Our technique builds on a recent method to control…
This work presents a solution to the adaptive tracking control of Euler Lagrange systems with guaranteed tracking and parameter estimation error convergence. Specifically a concurrent learning based update rule fused by the filtered version…
This paper addresses the problem of end-effector formation control for a mixed group of two-link manipulators moving in a horizontal plane that comprises of fully-actuated manipulators and underactuated manipulators with only the second…
This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed…
We consider time-reversal of electromagnetic waves in a closed, wave-chaotic system containing a discrete, passive, harmonic-generating nonlinearity. An experimental system is constructed as a time-reversal mirror, in which excitations…
In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial linearizing state feedback, and an immersion and invariance…
Given one open-loop measured trajectory of a single-input single-output discrete-time linear time-invariant system, we present a framework for data-driven controller design for closed-loop finite-horizon dissipativity. First, we parametrize…
The paper is devoted to the problem of global exact controllability for a wide class of neutral and mixed time-delay systems. We consider an equivalent operator model in Hilbert space and formulate steering conditions of controllable states…
This paper introduces a novel time-freezing reformulation and numerical methods for optimal control of complementarity Lagrangian systems (CLS) with state jumps. We cover the difficult case when the system evolves on the boundary of the…
This manuscript describes several approaches to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we are interested in controllers that preserve the mechanical system…
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…
This paper develops a robust fixed time optimization framework for constrained problems that guarantees exact constraint satisfaction and convergence to KKT points within fixed time , independent of initial conditions. The approach treats…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
In this paper we present an energy shaping control law for set-point regulation of the Chaplygin sleigh. It is well known that nonholonomic mechanical systems cannot be asymptotically stabilised using smooth control laws as they do no…
A finite-time attitude synchronization problem is considered in this paper where the rotation of each rigid body is expressed using the axis-angle representation. One simple discontinuous and distributed controller using the vectorized…
This paper presents a globally stable teleoperation control strategy for systems with time-varying delays that eliminates the need for velocity measurements through novel augmented Immersion and Invariance velocity observers. The new…
Representation of nonlinear dynamical systems as infinite-dimensional linear operators over Hilbert spaces enables analysis of nonlinear systems via pseudo-spectral operator analysis. In this paper, we provide a novel representation for…
The aim of this work is to design controllers through explicit minimization of the settling time of a closed-loop response, by using a class of methods adequate for this objective. To the best of our knowledge, all the methods available in…
We consider irreversible and coupled reversible-irreversible nonlinear port-Hamiltonian systems and the respective sets of thermodynamic equilibria. In particular, we are concerned with optimal state transitions and output stabilization on…
We present a loop-shaping approach to coherent feedback (CF) control. By formulating the coupling between a quantum system and its environment in terms of the noise power spectrum, our method enables direct manipulation of the effective…