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This paper addresses the problem of input-to-state stabilization for a class of parabolic equations with time-varying coefficients, as well as Dirichlet and Robin boundary disturbances. By using time-invariant kernel functions, which can…
In this paper, we tackle the state transformation problem in non-strict full state-constrained systems by introducing an adaptive fixed-time control method, utilizing a one-to-one asymmetric nonlinear mapping auxiliary system. Additionally,…
This paper presents novel stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. We distinguish and study two particular settings: i) the \emph{robust} case, in which the…
This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems. First, it is shown that the satisfaction of multiple output constraints boils down to…
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…
Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can lead to potentially dangerous situations. To avoid intolerable sensor drifts in the presence of GPS spoofing attacks, we propose a safety…
We present a constructive approach to bounded $\ell_2$-gain adaptive control with noisy measurements for linear time-invariant scalar systems with uncertain parameters belonging to a finite set. The gain bound refers to the closed-loop…
In this paper, the time-varying formation and time-varying formation tracking problems are solved for linear multi-agent systems over digraphs without the knowledge of the eigenvalues of the Laplacian matrix associated to the digraph. The…
This paper studies the synchronization problem of second-order nonlinear multi-agent systems with intermittent communication in the presence of irregular communication delays and possible information loss. The control objective is to steer…
This paper studies the problem of stabilization of a nonlinear system with time-varying delays in both sensing and actuation using event-triggered control. Our proposed strategy seeks to opportunistically minimize the number of control…
In this paper, a constrained parameter update law is derived in the context of adaptive control. The parameter update law is based on constrained optimization technique where a Lagrangian is formulated to incorporate the constraints on the…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
The problem of synchronization and balancing around simple closed polar curves is addressed for unicycle-type multi-agent systems. Leveraging the concept of barrier Lyapunov function in conjunction with bounded Lyapunov-like curve-phase…
We report on recent work on adaptive timestep control for weakly instationary gas flows [16, 18, 17] carried out within SFB 401, TPA3. The method which we implement and extend is a space-time splitting of adjoint error representations for…
This paper proposes a novel multi-objective control framework for linear time-invariant systems in which performance and robustness can be achieved in a complementary way instead of a trade-off. In particular, a state-space solution is…
Late-lumping feedback design for infinite-dimensional linear systems with unbounded input operators is considered. The proposed scheme is suitable for the approximation of backstepping and flatness-based designs and relies on a…
This paper presents a safe feedback control framework for nonlinear control-affine systems with parametric uncertainty by leveraging adaptive dynamic programming (ADP) with barrier-state augmentation. The developed ADP-based controller…
In this paper, a position and velocity estimation method for robotic manipulators which are affected by constant bounded disturbances is considered. The tracking control problem is formulated as a disturbance rejection problem, with all the…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…
In this work, we propose an event-triggered con- trol framework for dynamical systems with temporal logical constraints. Event-triggered control methodologies have proven to be very efficient in reducing sensing, communication and…