相关论文: Robust Adaptive Control for Circadian Dynamics: Po…
In this paper we study the asymptotic behavior of nonoscillatory solutions for high order differential equations of Poincar\'e type. We introduce two new and more weak than classical hypotheses on the coefficients, which implies a well…
In theoretical ecology, models describing the spatial dispersal and the temporal evolution of species having non-overlapping generations are often based on integrodifference equations. For various such applications the environment has an…
In this paper, a backstepping control of the one-phase Stefan Problem, which is a 1-D diffusion Partial Differential Equation (PDE) defined on a time varying spatial domain described by an ordinary differential equation (ODE), is studied. A…
The problem of orbital stabilization of underactuated mechanical systems with one passive degree-of-freedom (DOF) is revisited. Virtual holonomic constraints are enforced using a continuous controller; this results in a dense set of closed…
This article proposes a Model Reference Adaptive Control (MRAC) strategy to achieve fixed-time convergence of parameter estimation and tracking errors for unknown linear time-invariant systems, without relying on the persistence of…
Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…
An approach for the description of stochastic systems is derived. Some of the variables in the system are studied forward in time, others backward in time. The approach is based on a perturbation expansion in the strength of the coupling…
In this article we are interested in the boundary stabilization in finite time of one-dimensional linear hyperbolic balance laws with coefficients depending on time and space. We extend the so called "backstepping method" by introducing…
In this paper, we propose a footstep planning strategy based on model predictive control (MPC) that enables robust regulation of body orientation against undesired body rotations by optimizing footstep placement. Model-based locomotion…
A comprehensive approach addressing identification and control for learningbased Model Predictive Control (MPC) for linear systems is presented. The design technique yields a data-driven MPC law, based on a dataset collected from the…
Exponential stabilizability of the incompressible Navier-Stokes equations under dynamic slip boundary conditions toward arbitrary time-dependent trajectories is proven. The feedback control law is constructed explicitly using oblique…
In adaptive-sampling control, the control frequency can be adjusted during task execution. Ensuring that these changes do not jeopardize the safety of the system being controlled requires attention. We introduce robust M-step hold model…
Recently, the problem of boundary stabilization for unstable linear constant-coefficient coupled reaction-diffusion systems was solved by means of the backstepping method. The extension of this result to systems with advection terms and…
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation…
In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened as Time-Delayed Adaptive Robust Control (TARC) is…
We present a model-based output-only method for identifying from time series the parameters governing the dynamics of stochastically forced oscillators. In this context, suitable models of the oscillator's damping and stiffness properties…
A van der Pol self sustained oscillator with higher order nonlinearity exhibits a rich dynamics, with multiple periodic attractors, and still the model allows analytical approximations. Some of these properties can be conveniently exploited…
Modern optimal control theory involves adjoining the already known equations of motion of a dynamic system to the objective function using dynamic costates; this is done in order to constrain the optimal control solutions to satisfy the…
We develop a delay-adaptive controller for a class of first-order hyperbolic partial integro-differential equations (PIDEs) with an unknown input delay. By employing a transport PDE to represent delayed actuator states, the system is…