Related papers: Matching control laws for a ball and beam system
In this paper we present control of infinite-dimensional systems by power shaping methods, which have been used extensively for control of finite dimensional systems. Towards achieving the results we work within the Brayton Moser framework,…
In a topological space, a family of continuous mappings is called universal if its action, in at least one element of the space, is dense. If the mappings are unitary or trace-preserving completely positive, the notion of universality is…
In this paper it is considered a class of infinite-dimensional control systems in a variational setting. By using a Faedo-Galerkin method, a sequence of approximating finite dimensional controlled differential equations is defined. On each…
For linear time-invariant systems having a state matrix with uncertain sign, we formulate a minimax adaptive control problem as a zero sum dynamic game. Explicit expressions for the optimal value function and the optimal control law are…
This paper completely solves the controllability problems of two-dimensional multi-input discrete-time bilinear systems with and without drift. Necessary and sufficient conditions for controllability, which cover the existing results, are…
Discrete abstractions of continuous and hybrid systems have recently been the topic of great interest from both the control systems and the computer science communities, because they provide a sound mathematical framework for analysing and…
This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…
Initially introduced in the framework of quantum control, the so-called "monotonic algorithms" have demonstrated excellent numerical performance when dealing with bilinear optimal control problems. This paper presents a unified formulation…
In this paper we will discuss problems and techniques related to underactuated systems. We give a mathematical formulation of several problems arising from applications, review some standard and new techniques, and pose some interesting and…
A new framework for adaptive regulation to invariant sets is proposed. Reaching the target dynamics (invariant set) is to be ensured by state feedback while adaptation to parametric uncertainties is provided by additional adaptation…
This paper addresses the problem of control synthesis for nonlinear optimal control problems in the presence of state and input constraints. The presented approach relies upon transforming the given problem into an infinite-dimensional…
This paper addresses the problem of finite horizon constrained robust optimal control for nonlinear systems subject to norm-bounded disturbances. To this end, the underlying uncertain nonlinear system is decomposed based on a first-order…
A fast convergence in a fixed-time of solutions of nonlinear dynamical systems, for which special requirements are satisfied on the derivative of a quadratic function calculated along the solutions of the system, is proposed. The conditions…
Symmetry groups allow to transform solutions of differential equations continuously into other solutions. This property can be used for the observability analysis of infinite-dimensional systems with input and output. In this contribution,…
This article presents an identification methodology to capture general relationships, with application to piecewise nonlinear approximations of model predictive control for constrained (non)linear systems. The mathematical formulation…
The problem of tracking an arbitrary curve in the state space is considered for underactuated driftless control-affine systems. This problem is formulated as the stabilization of a time-varying family of sets associated with a neighborhood…
Boundary feedback control design is studied for 1D hyperbolic systems with an in-domain disturbance and a boundary feedback controller under the effect of actuator saturation. Nonlinear semigroup theory is used to prove well-posedness of…
Control-based continuation (CBC) is a general and systematic method to explore the dynamic response of a physical system and perform bifurcation analysis directly during experimental tests. Although CBC has been successfully demonstrated on…
A method based on infinite parameter conservation laws is described to factor linear differential operators out of nonlinear partial differential equations (PDEs) or out of differential consequences of nonlinear PDEs. This includes a…
A method of optimal control computation is proposed for problems with control and state constraints. It uses a sequence of control structure adjustments in the form of generations and reductions of nodes and arcs, which do not change the…