Related papers: Flatness-based control of a Timoshenko beam
This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…
In this paper it is developed a simple, analytical and very efficient method capable to provide control of optical beam's intensity over an arbitrary curvilinear (planar) trajectory. The same method also provides the possibility of managing…
We consider trajectory tracking for minimum-phase nonlinear systems in Byrnes-Isidori form using the model-following control (MFC) architecture. The tracking problem is motivated by a hierarchical control concept where a higher-level…
We introduce a control design and analysis framework for micro-macro, boundary control of large-scale, $n+m$ hyperbolic PDE systems. Specifically, we develop feedback laws for stabilization of hyperbolic systems at the micro level (i.e., of…
This work develops a quantum control application of many-body quantum chaos for ultracold bosonic gases trapped in optical lattices. It is long known how to harness exponential sensitivity to changes in initial conditions for control…
We present a predictive feedback control method for a class of quasilinear hyperbolic systems with one boundary control input. Assuming exact model knowledge, convergence to the origin, or tracking at the uncontrolled boundary, are achieved…
This paper generalises an early lumped observer-based state-feedback (OBSF) control design methodology, originally developed for one-dimensional (1-D) boundary-controlled port-Hamiltonian systems, to a two-dimensional (2-D)…
We develop a functional-analytic characterization of output tracking controllability for finite-dimensional linear systems. By formulating tracking as the surjectivity of the control-to-output map on suitable trajectory spaces, we show that…
The purpose of this paper is to investigate the coherent feedback $H^\infty$ control problem for linear quantum systems. A key contribution is a simplified design methodology that guarantees closed-loop stability and a prescribed level of…
Piezoelectric fast steering mirrors (PFSM) are widely utilized in beam precision-pointing systems but encounter considerable challenges in achieving high-precision tracking of fast trajectories due to nonlinear hysteresis and mechanical…
We are interested in the feedback stabilization of general linear multi-dimensional first order hyperbolic systems in $\mathbb{R}^d$. Using a Lyapunov function with a suited weight function depending on the system under consideration we…
This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…
Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative…
An input-output model of a two-level quantum system in the Heisenberg picture is of bilinear form with constant system matrices, which allows the introduction of the concepts of controllability and observability in analogy with those of…
This paper considers a class of uncertain linear quantum systems subject to uncertain perturbations in the system Hamiltonian. We present a method to design a coherent robust H-infinity controller so that the closed loop system is robustly…
Model-Free Control (MFC) has been applied to a wide variety of systems in which it has shown its performance. MFC offers "model-free operation", but the controller design requires some information from the nominal plant. This paper…
Open Markovian quantum systems with fast and full Hamiltonian control can be reduced to an equivalent control system on the standard simplex modelling the dynamics of the eigenvalues of the density matrix describing the quantum state. We…
Feedforward steering control is a key component of hierarchical control architectures for autonomous racing. The goal is to reduce steering corrections from the feedback controllers by predicting the vehicle's inverse lateral dynamics. This…
In this paper we propose an implicit force control scheme for a one-link flexible manipulator that interact with a compliant environment. The controller was based in the mathematical model of the manipulator, considering the dynamics of the…
A multi-input multi-output based grid-forming (MIMO-GFM) converter has been proposed using multivariable feedback control, which has been proven as a superior and robust system using low-order controllers. However, the original MIMO-GFM…