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We study a novel general class of multidimensional type-I backward stochastic Volterra integral equations. Toward this goal, we introduce an infinite dimensional system of standard backward SDEs and establish its well-posedness, and we show…
The paper deals with the data-based design of state-feedback controllers that solve the output regulation problem for a class of nonlinear systems. Inspired by recent developments in model-based output regulation design techniques and in…
A ship steering control is designed for a nonlinear maneuvering model whose rudder manipulation is constrained in both magnitude and rate. In our method, the tracking problem of the target heading angle with input constraints is converted…
A control design for error reduction in the tracking control for a class of non-lower triangular nonlinear systems is presented by combining techniques of Variable Power Surface Error Function (VPSEF), backstepping, and dynamic surface…
An explicit output-feedback boundary feedback law is introduced that stabilizes an unstable linear constant-coefficient reaction-diffusion equation on an $n$-ball (which in 2-D reduces to a disk and in 3-D reduces to a sphere) using only…
Although the raison d'etre of the brain is the survival of the body, there are relatively few theoretical studies of closed-loop rhythmic motor control systems. In this paper we provide a unified framework, based on variational analysis,…
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…
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…
This paper discusses the in-domain feedback stabilization of reaction-diffusion PDEs with Robin boundary conditions in the presence of an uncertain time- and spatially-varying delay in the distributed actuation. The proposed control design…
We consider nonlinear control systems for which there exist some structural obstacles to the design of classical continuous stabilizing feedback laws. More precisely, it is studied systems for which the backstepping tool for the design of…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
Through the use of the Fundamental Lemma for linear systems, a direct data-driven state-feedback control synthesis method is presented for a rather general class of nonlinear (NL) systems. The core idea is to develop a data-driven…
This paper deals with the exponential stability of systems made of a hyperbolic PDE coupled with an ODE with different time scales, the dynamics of the PDE being much faster than that of the ODE. Such a difference of time scales is modeled…
This paper addresses the stabilization of a chain of three coupled hyperbolic partial differential equations actuated by two control inputs applied at arbitrary nodes of the network. With the exception of configurations where one input is…
This paper presents an adaptive observer design for semilinear hyperbolic rolling contact ODE-PDE systems with uncertain friction characteristics parameterized by a matrix of unknown coefficients appearing in the nonlinear (and possibly…
The precision motion industry has an ever-increasing demand for faster, more precise and more robust controllers. From the perspective of frequency domain and loopshaping technique, this demand has pushed the linear controllers to their…
The accurate characterization of tire dynamics is critical for advancing control strategies in autonomous road vehicles, as tire behavior significantly influences handling and stability through the generation of forces and moments at the…
This paper extends backstepping to higher-dimensional PDEs by leveraging domain symmetries and structural properties. We systematically address three increasingly complex scenarios. First, for rectangular domains, we characterize boundary…
In this paper, we directly design a state feedback controller that stabilizes a class of uncertain nonlinear systems solely based on input-state data collected from a finite-length experiment. Necessary and sufficient conditions are derived…
We develop a backstepping-based observer design for a class of ODE - continuum-PDE cascade systems, which can be viewed as the limit, of a finite collection of ODE - $2 \times 2$ hyperbolic systems, as the number of individual PDE system…