Related papers: Flatness-based control of a Timoshenko beam
In this paper, a Fault-Tolerant control of 2 DOF Helicopter (TRMS System) Based on H-infinity is presented. In particular, the introductory part of the paper presents a Fault-Tolerant Control (FTC), the first part of this paper presents a…
Vehicular formation control is an important component of intelligent transportation systems (ITSs). In practical implementations, the controller design needs to satisfy multiple state constraints, including inter-vehicle spacing and vehicle…
Due to their compliant structure, industrial robots without precision-enhancing measures are only to a limited extent suitable for machining applications. Apart from structural, thermal and bearing deformations, the main cause for compliant…
This paper systematically introduces dynamic extensions for the boundary control of general heterodirectional hyperbolic PDE systems. These extensions, which are well known in the finite-dimensional setting, constitute the dynamics of state…
In this article, we detail the design of an output feedback stabilizing control law for an underactuated network of N subsystems of n + m heterodirectional linear first-order hyperbolic Partial Differential Equations interconnected through…
We consider finite-dimensional Markovian open quantum systems, and characterize the extent to which time-independent Hamiltonian control may allow to stabilize a target quantum state or subspace and optimize the resulting convergence speed.…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
We solve the problem of stabilization of a class of linear first-order hyperbolic systems featuring n rightward convecting transport PDEs and m leftward convecting transport PDEs. Using the backstepping approach yields solutions to…
Designing a static state-feedback controller subject to structural constraint achieving asymptotic stability is a relevant problem with many applications, including network decentralized control, coordinated control, and sparse feedback…
This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular…
We consider low-order controller design for large-scale linear time-invariant dynamical systems with inputs and outputs. Model order reduction is a popular technique, but controllers designed for reduced-order models may result in unstable…
Considering the potential of thermostatically controlled loads (TCLs) to provide flexibility in demand response or load control, a semi-Markov model (SMM) for the ON/OFF controlled TCL is developed in this paper. This model makes full use…
This work presents a new approach to the guidance and control of marine craft via HEOL, i.e., a new way of combining flatness-based and model-free controllers. Its goal is to develop a general regulator for Unmanned Surface Vehicles (USV).…
We introduce a general framework, based on collision models and discrete CP-maps, to describe on an equal footing coherent and measurement-based feedback control of quantum mechanical systems. We apply our framework to prominent tasks in…
This paper presents a framework for real-time optimal controlling of a heavy-duty skid-steered mobile platform for trajectory tracking. The importance of accurate real-time performance of the controller lies in safety considerations of…
This paper considers a tracking control problem, in which the dynamic controller is encrypted with an additively homomorphic encryption scheme and the output of a process tracks a dynamic reference asymptotically. Our paper is motivated by…
We derive in a straightforward way the null controllability of a 1-D heat equation with boundary control. We use the so-called {\em flatness approach}, which consists in parameterizing the solution and the control by the derivatives of a…
Growing demands in the semiconductor industry necessitate increasingly stringent requirements on throughput and positioning accuracy of lithographic equipment. Meeting these demands involves employing highly aggressive motion profiles,…
This paper revisits the robustness analysis and distributed ${ H}_\infty$ controller design for the platooning of connected vehicles. Recently, the relevant result subjected to the undirected topology has been studied, in the light of the…
Designing control inputs that satisfy safety requirements is crucial in safety-critical nonlinear control, and this task becomes particularly challenging when full-state measurements are unavailable. In this work, we address the problem of…