Related papers: Flatness-based control of a Timoshenko beam
In this paper, we present a controller framework that synthesizes control policies for Jump Markov Linear Systems subject to stochastic mode switches and imperfect mode estimation. Our approach builds on safe and robust methods for Model…
We derive in a straightforward way the exact controllability of the 1-D Schrodinger equation with a Dirichlet boundary control. We use the so-called flatness approach, which consists in parameterizing the solution and the control by the…
Non-overshooting stabilization is a form of safe control where the setpoint chosen by the user is at the boundary of the safe set. Exponential non-overshooting stabilization, including suitable extensions to systems with deterministic and…
This paper deals with mathematical models of continuous crystallization described by hyperbolic systems of partial differential equations coupled with ordinary and integro-differential equations. The considered systems admit nonzero…
Control barrier functions (CBFs) are a popular approach to design feedback laws that achieve safety guarantees for nonlinear systems. The CBF-based controller design relies on the availability of a model to select feasible inputs from the…
We consider the problem of designing robust state-feedback controllers for discrete-time linear time-invariant systems, based directly on measured data. The proposed design procedures require no model knowledge, but only a single open-loop…
We study the problem to provide a triangular form based on implicit differential equations for non-linear multi-input systems with respect to the flatness property. Furthermore, we suggest a constructive method for the transformation of a…
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…
This paper presents an input-output simulation approach to controlling multi-affine systems for linear temporal logic (LTL) specifications, which consists of the following steps. First, we partition the state space into rectangles, each of…
This paper presents the design, control, and applications of a multi-segment soft robotic arm. In order to design a soft arm with large load capacity, several design principles are proposed by analyzing two kinds of buckling issues, under…
We show that the closed-loop control obtained by feeding back the derivative of the signal from the homodyne measurement of one mode of the light exiting a two-mode optical cavity interacting with a mechanical resonator permits to control…
Recently, the Hamiltonian Control Theory was used in [Boreux et al.] to increase the dynamic aperture of a ring particle accelerator having a localized thin sextupole magnet. In this letter, these results are extended by proving that a…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
We propose a simple feedback-control scheme for adiabatic quantum computation with superconducting flux qubits. The proposed method makes use of existing on-chip hardware to monitor the ground-state curvature, which is then used to control…
This paper considers the backstepping state feedback and observer design for hyperbolic and parabolic PDEs, which are bidirectionally interconnected in a general coupling structure. Both PDE subsystems consist of coupled scalar PDEs with…
This paper introduces an online data-driven learning scheme designed to address a novel problem in propensity formation and containment control for fully heterogeneous multi-agent systems. Unlike traditional approaches that rely on the…
A state space based design method is given to find strongly stabilizing controllers for multiple-input-multiple-output plants (MIMO). A sufficient condition is derived for the existence of suboptimal stable H-infinity controller in terms of…
This work discusses the use of model predictive control (MPC) for the manipulation of a pusher-slider system. In particular we leverage the differential flatness of the pusher-slider in combination with a B-splines transcription to address…
The numerical approximation of an optimal control problem with $L^1$-control of a Timoshenko beam is considered and analyzed by using the finite element method. From the practical point of view, inclusion of the $L^1$--norm in the cost…
This paper presents a methodology to stabilize some kind of Nonlinear Control system known as Driftless, utilizing the concept of \textit{Pseudo-Kinetic Energy} introduced in this work. Once this controller is applied to the Unicycle-type…