Related papers: Control of nonlinear underactuated systems
This note studies (practical) asymptotic stability of nonlinear networked control systems whose protocols are not necessarily uniformly globally exponentially stable. In particular, we propose a Lyapunov-based approach to establish…
This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a strict-feedback structure with unknown parameters entering both…
In this paper, we present two control laws that are tailored for control applications in which computational and/or communication resources are scarce. Namely, we consider minimum attention control, where the `attention' that a control task…
This paper is concerned with boundary stabilization of two-dimensional hyperbolic systems of partial differential equations. By adapting the Lyapunov function previously proposed by the second author for linearized hyperbolic systems with…
Control Lyapunov function is a central tool in stabilization. It generalizes an abstract energy function -- a Lyapunov function -- to the case of controlled systems. It is a known fact that most control Lyapunov functions are non-smooth --…
This paper is about the stabilization of a cascade system composed by an infinite-dimensional system, that we suppose to be exponentially stable, and an ordinary differential equation (ODE), that we suppose to be marginally stable. The…
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…
A quantum system whose internal Hamiltonian is not strongly regular or/and control Hamiltonians are not full connected, are thought to be in the degenerate cases. In this paper, convergence problems of the multi-control Hamiltonians closed…
There are recent shifts in demand for design controllers from simplified to complex model-based. Although simplification approaches are successful in many areas of engineering control systems, high-fidelity simulation-based control design,…
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…
In this paper, an asymptotic stability proof for a class of methods for inexact nonlinear model predictive control is presented. General Q-linearly convergent online optimization methods are considered and an asymptotic stability result is…
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…
This paper deals with the controllability for a class of non-autonomous neutral differential equations of fractional order with infinite delay in an abstract space. The semi-group theory of bounded linear operators, fractional calculus, and…
This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…
This paper investigates the problem of synchronization for nonlinear systems. Following a Lyapunov approach, we firstly study global synchronization of nonlinear systems in canonical control form with both distributed…
This paper proposes a dynamic quantum-assisted co-design framework for nonlinear closed-loop systems in which controller parameters and Lyapunov-certificate parameters are redesigned jointly at successive decision epochs. Unlike…
In this study, we propose new global stabilization approaches for a class of polynomial systems in both model-based and data-driven settings. The existing model-based approach guarantees global asymptotic stability of the closed-loop system…
Using a nonlocal second-order traffic flow model we present an approach to control the dynamics towards a steady state. The system is controlled by the leading vehicle driving at a prescribed velocity and also determines the steady state.…
Lyapunov redesign is a classical technique that uses a nominal control and its corresponding nominal Lyapunov function to design a discontinuous control, such that it compensates the uncertainties and disturbances. In this paper, the idea…
We propose an extension of the theory of control sets to the case of inputs satisfying a dwell-time constraint. Although the class of such inputs is not closed under concatenation, we propose a suitably modified definition of control sets…