Related papers: Dynamic Constrained Stabilization on the n-sphere
The problem of constrained stabilization on the n-sphere under star-shaped constraints is considered. We propose a control strategy that allows to almost globally steer the state to a desired location while avoiding star-shaped constraints…
We solve the stabilization problem on the $n-$sphere in the presence of conic constraints. We use the stereographic projection to map this problem to the classical navigation problem on $\mathbb{R}^n$ in the presence of spherical obstacles.…
In this paper, we study the stabilization problem for a hyperbolic type Stokes system posed on a bounded domain. We show that when the damping effects are restricted to a subdomain satisfying the geometrical control condition the system…
The method of controlled Lagrangians for discrete mechanical systems is extended to include potential shaping in order to achieve complete state-space asymptotic stabilization. New terms in the controlled shape equation that are necessary…
This paper addresses the problems of stabilization, robust control, and observer design for nonlinear systems. We build upon recently a proposed method based on contraction theory and convex optimization, extending the class of systems to…
This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs. As customarily in passivity-based…
Existing approaches to robust global asymptotic stabilization of a pair of antipodal points on unit $n$-sphere $\mathbb{S}^n$ typically involve the non-centrally synergistic hybrid controllers for attitude tracking on unit quaternion space.…
The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algorithms to overcome such topological limitations and achieve…
In this paper we study the stabilization problem of a general class of slow-fast systems with one fast and arbitrarily many slow states. Moreover, the class of systems under study is slowly actuated, meaning that only the slow states are…
In this paper we show that a slight modification to the widely popular interconnection and damping assignment passivity-based control method---originally proposed for stabilization of equilibria of nonlinear systems---allows us to provide a…
Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
For constrained system which has several independent first integrals, we give a new stabilization method which named adjustment-stabilization method. It can stabilize all known constants of motion for a given dynamical system very well…
Stabilizing an unknown control system is one of the most fundamental problems in control systems engineering. In this paper, we provide a simple, model-free algorithm for stabilizing fully observed dynamical systems. While model-free…
Global stabilization of viscous Burgers' equation around constant steady state solution has been discussed in the literature. The main objective of this paper is to show global stabilization results for the 2D forced viscous Burgers'…
Following Demidovich's concept and definition of convergent systems, we analyze the optimal nonlinear damping control, recently proposed [1] for the second-order systems. Targeting the problem of output regulation, correspondingly tracking…
We investigate the relationship between rigid motions and relative equilibria in the N-body problem on the two-dimensional sphere, S2. We prove that any rigid motion of the N-body system on S2 must be a relative equilibrium. Our approach…
This paper presents global tracking strategies for the attitude dynamics of a rigid body. It is well known that global attractivity is prohibited for continuous attitude control systems on the special orthogonal group. Such topological…
Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the…
We propose a method to stabilise a solution to equations describing the interface of thin liquid films falling under gravity with a finite number of actuators and restricted observations. As for many complex systems, full observation of the…