Related papers: Stability, Contraction, and Controllers for Affine…
In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which…
An Adaptive Fault-tolerant Controller procedure for a class of the affine nonlinear system is developed in this paper. This methodology hides both the faults and external disturbances. Compare to the procedure that require separate fault…
Copositive linear Lyapunov functions are used along with dissipativity theory for stability analysis and control of uncertain linear positive systems. Unlike usual results on linear systems, linear supply-rates are employed here for…
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…
Hyperexponential stability is investigated for dynamical systems with the use of both, explicit and implicit, Lyapunov function methods. A nonlinear hyperexponential control is designed for stabilizing linear systems. The tuning procedure…
Learning and synthesizing stabilizing controllers for unknown nonlinear control systems is a challenging problem for real-world and industrial applications. Koopman operator theory allows one to analyze nonlinear systems through the lens of…
The present paper addresses the problem of existence of an (output) feedback law to the purposes of asymptotically steering to zero a given controlled variable, while keeping all state variables bounded, for any initial conditions in a…
This work proposes a new a framework for determining robust periodic invariant sets and their associated control laws for constrained uncertain linear systems. Necessary and sufficient conditions for stabilizability by periodic controllers…
This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…
This paper deals with the stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…
We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
Absolute stability is a technique for analyzing the stability of Lur'e systems, which arise in diverse applications, such as oscillators with nonlinear damping or nonlinear stiffness. A special class of Lur'e systems consists of…
This paper presents novel stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. We distinguish and study two particular settings: i) the \emph{robust} case, in which the…
In adaptive dynamical networks, the dynamics of the nodes and the edges influence each other. We show that we can treat such systems as a closed feedback loop between edge and node dynamics. Using recent advances on the stability of…
This paper investigates the finite time stabilization problem for a class of nonlinear systems with unknown control directions and unstructured uncertainties. The unstructured uncertainties indicate that not only the parameters but also the…
In this letter, we discuss the problem of optimal control for affine systems in the context of data-driven linear programming. First, we introduce a unified framework for the fixed point characterization of the value function, Q-function…
We consider a stochastic control problem where the set of strict (classical) controls is not necessarily convex, and the system is governed by a nonlinear backward stochastic differential equation. By introducing a new approach, we…
In this paper, we consider controlling a class of single-input-single-output (SISO) commensurate fractional-order nonlinear systems with parametric uncertainty and external disturbance. Based on backstepping approach, an adaptive controller…