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We consider the optimal distributed controller design problem subject to two structural requirements: locality, i.e. available measurements and sub-controllers' interactions are governed by a graph structure, and relative feedback, i.e.…
The paper deals with the observer design problem for a wide class of triangular nonlinear time-varying systems. The results of the present work generalize previous results in the literature dealing with the observer design problem for…
We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different…
This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unlike existing methods, which often assume that the constraints…
This paper addresses the consensus of a class of uncertain nonlinear fractional-order multi-agent systems (FOMAS). First a fractional non-fragile dynamic output feedback controller is put forward via the output measurements of neighboring…
Feedback optimization is a control paradigm that enables physical systems to autonomously reach efficient operating points. Its central idea is to interconnect optimization iterations in closed-loop with the physical plant. Since iterative…
Besides parametric uncertainties and disturbances, the unmodeled dynamics and time delay at the input are often present in practical systems, which cannot be ignored in some cases. This paper aims to solve output feedback tracking control…
Stability conditions on triangulated categories were introduced by Bridgeland as a 'continuous' generalisation of t-structures. The set of locally-finite stability conditions on a triangulated category is a manifold which has been studied…
Tensegrity structures have been extensively studied over the last years due to their potential applications in modern engineering like metamaterials, deployable structures, planetary lander modules, etc. Many of the form-finding methods…
This paper generalizes recent results by the authors on noninvasive model-reference adaptive control designs for control-based continuation of periodic orbits in periodically excited linear systems with matched uncertainties to a larger…
We introduce the notion of a {\it mock tridiagonal system}. This is a generalization of a tridiagonal system in which the irreducibility assumption is replaced by a certain non-vanishing condition. We show how mock tridiagonal systems can…
This manuscript considers the problem of ensuring stability and safety during formation control with distributed multi-agent systems in the presence of parametric uncertainty in the dynamics and limited communication. We propose an…
This paper presents an indirect data-driven output feedback controller synthesis for nonlinear systems, leveraging Structured State-space Models (SSMs) as surrogate models. SSMs have emerged as a compelling alternative in modelling…
This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…
We describe the notion of stability of coherent systems as a framework to deal with redundancy. We define stable coherent systems and show how this notion can help the design of reliable systems. We demonstrate that the reliability of…
We introduce the concept of strict ample sequence in a fibered triangulated category and define the stability of the objects in a triangulated category. Then we construct the moduli space of (semi) stable objects by GIT construction.
Space-filling designs are commonly used in computer experiments to fill the space of inputs so that the input-output relationship can be accurately estimated. However, in certain applications such as inverse design or feature-based…
Many control applications require that a system be constrained to a particular set of states, often termed as safe set. A practical and flexible method for rendering safe sets forward-invariant involves computing control input using Control…
In this paper, we establish necessary and sufficient conditions for stable inversion, addressing challenges in non-minimum phase, non-square, and singular systems. An H-Infinity based algebraic approximation is introduced for near-perfect…
We show that the flatness of a nonlinear discrete-time system can be checked by computing a unique sequence of involutive distributions. The well-known test for static feedback linearizability is included as a special case. Since the…