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In a quasi-1D thermal convective system consisting of a large array of nonlinearly coupled oscillators, clustering is the way to achieve a regime of mostly antiphase synchronized oscillators. This regime is characterized by a spatiotemporal…

We present a sample-based Learning Model Predictive Controller (LMPC) for constrained uncertain linear systems subject to bounded additive disturbances. The proposed controller builds on earlier work on LMPC for deterministic systems.…

This article focuses on the trajectory tracking problem of mobile manipulators (MMs). Firstly, we construct a position and orientation model predictive tracking control (POMPTC) scheme for mobile manipulators. The proposed POMPTC scheme can…

This paper is concerned with linear stochastic Hamiltonian (LSH) systems subject to random external forces. Their dynamics are modelled by linear stochastic differential equations, parameterised by stiffness, mass, damping and coupling…

We present Neural Stochastic Contraction Metrics (NSCM), a new design framework for provably-stable robust control and estimation for a class of stochastic nonlinear systems. It uses a spectrally-normalized deep neural network to construct…

This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…

Presence of model uncertainties creates challenges for model-based control design, and complexity of the control design is further exacerbated when coping with nonlinear systems. This paper presents a sliding mode control (SMC) design…

The performance of a conventional model-based controller significantly depends on the accuracy of the modeled dynamics. The model of a plant's dynamics is subjected to errors in estimating the numerical values of the physical parameters,…

In this paper we present an influence of discontinuous coupling on the dynamics of multistable systems. Our model consists of two periodically forced oscillators that can interact via soft impacts. The controlling parameters are the…

We consider the two dimensional (2D) classical lattice Coulomb gas as a model for magnetic field induced vortices in 2D superconducting networks. Two different dynamical rules are introduced to investigate driven diffusive steady states far…

Many systems, arising in electrical and electronic engineering are based on controlled phase synchronization of several periodic processes ("phase synchronization" systems, or PSS). Typically such systems are featured by the gradient-like…

Locked intrinsic localized modes (ILMs) and large amplitude lattice spatial modes (LSMs) have been experimentally measured for a driven 1-D nonlinear cyclic electric transmission line, where the nonlinear element is a saturable capacitor.…

This paper studies an attitude control system design based on modified Rodrigues parameters feedback. It employs a linear continuous sliding mode controller. The sliding mode controller is able to bring the existence of the sliding motion…

Controller design faces a trade-off between robustness and performance, and the reliability of linear controllers has caused many practitioners to focus on the former. However, there is renewed interest in improving system performance to…

Connected and autonomous vehicles (CAVs) have great potential to improve road transportation systems. Most existing strategies for CAVs' longitudinal control focus on downstream traffic conditions, but neglect the impact of CAVs' behaviors…

A unified model of voltage mode control (VMC) and current mode control (CMC) is proposed to predict the saddle-node bifurcation (SNB). Exact SNB boundary conditions are derived, and can be further simplified in various forms for design…

This paper presents a state-of-the-art optimal controller for quadruped locomotion. The robot dynamics is represented using a single rigid body (SRB) model. A linear time-varying model predictive controller (LTV MPC) is proposed by using…

Controllers are often designed based on a reduced or simplified model of the plant dynamics. In this context, we investigate whether it is possible to synthesize a stabilizing event-triggered feedback law for networked control systems (NCS)…

This work deals with the design of a sliding mode observer with a multi-surfaces sliding mode multimodel control (SM-MMC) for a mechanical sensorless pumping system. The observer is designed to estimate the speed and the mechanical position…

Previously we published a dynamical model (E. Brown and G. Ahlers, Phys. Fluids, 20, 075101 (2008)) for the large-scale-circulation (LSC) dynamics of Rayleigh-Benard convection in cylindrical containers. The model consists of a pair of…