Related papers: Global Asymptotic Controllability Implies Input to…
This paper addresses the problem of stabilization for infinite-dimensional systems. In particular, we design nonlinear stabilizers for both linear and nonlinear abstract systems. We focus on two classes of systems: the first class comprises…
Stabilization of linear systems with unknown dynamics is a canonical problem in adaptive control. Since the lack of knowledge of system parameters can cause it to become destabilized, an adaptive stabilization procedure is needed prior to…
We show that any globally asymptotically controllable system on any smooth manifold can be globally stabilized by a state feedback. Since we allow discontinuous feedbacks, we interpret the solutions of our systems in the ``sample and hold''…
In this paper, we investigate the problem of semi-global minimal time robust stabilization of analytic control systems with controls entering linearly, by means of a hybrid state feedback law. It is shown that, in the absence of minimal…
In this paper, first, it is shown that if a nonlinear time-varying system is contractive, then it is incrementally exponentially stable. Second, leveraging this result, under mild restrictions, an approach is proposed to design feedforward…
This note studies the global controllability of a general nonlinear system by extending it to affine one. The state space of the obtained affine system admits a nature foliation, each leaf of which is diffeomorphic to the state space of the…
Sufficient conditions are established for sampled-data feedback global asymptotic stabilization for nonlinear autonomous systems. One of our main results is an extension of the well known Artstein-Sontag theorem on feedback stabilization…
Relaxed conditions are given for stability of a feedback system consisting of an exponentially stable multi-input multi-output nonlinear plant and an integral controller. Roughly speaking, it is shown that if the composition of the plant…
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 explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from…
We consider the problem of output feedback stabilization in linear systems when the measured outputs and control inputs are subject to event-triggered sampling and dynamic quantization. A new sampling algorithm is proposed for outputs which…
In this paper, we consider the closed-loop control problem of nonlinear robotic systems in the presence of probabilistic uncertainties and disturbances. More precisely, we design a state feedback controller that minimizes deviations of the…
This paper studies the problem of stabilization of a nonlinear system with time-varying delays in both sensing and actuation using event-triggered control. Our proposed strategy seeks to opportunistically minimize the number of control…
The topological obstructions on the attitude space of a rigid body make global asymptotic stabilization impossible using continuous state-feedback. This paper presents novel algorithms to overcome such topological limitations and achieve…
This paper is concerned with the design of an augmented state feedback controller for finite-dimensional linear systems with nonlinear observation dynamics. Most of the theoretical results in the area of (optimal) feedback design are based…
The problem of state-feedback stabilizability of discrete-time nonlinear systems has been considered in this note. Two assertions have been proved. First, if the system is $N$-step controllable to the origin, then there is a state feedback…
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 propose a certainty-equivalence scheme for adaptive control of scalar linear systems subject to additive, i.i.d. Gaussian disturbances and bounded control input constraints, without requiring prior knowledge of the bounds of the system…
The main objective of this paper is to show that two asymptotically stable steady states which belong to an analytic path of asymptotically stable steady states can be gradually transferred one to the other by successive changes of the…
We propose a new model predictive control (MPC) approach which is completely based on an observer for the state system. For this, we show semiglobally practically asymptotic stability of the closed loop for an abstract observer and…