相关论文: Robust Controllers for a Flexible Satellite Model

Capturing disused satellites in orbit and their controlled reentry is the aim of the DEOS space mission. Satellites that ran out of fuel or got damaged pose a threat to working projects in orbit. Additionally, the reentry of such objects…

In this work, a result of exponential stability is obtained for solutions of a compressible flow-structure partial differential equation (PDE) model which has recently appeared in the literature. In particular, a compressible flow PDE and…

This paper is concerned with exponential stability of a class of infinite dimensional coupled systems. It is proved that under some admissibility conditions, the considered infinite dimensional coupled system is governed by a…

In this paper, we study the exact controllability and stabilization of a system of two wave equations coupled by velocities with an internal, local control acting on only one equation. We distinguish two cases. In the first one, when the…

In this paper, we design an output-feedback controller to stabilize n +m hetero-directional transport partial differential equations (PDEs) coupled on both domain boundaries to ordinary differential equations (ODEs). This class of systems…

This paper presents sufficient conditions for small-time local controllability of a control-affine system that describes the rotational motion of a satellite in a circular orbit. The satellite is modeled as a rigid body subject to…

This paper studies the robustness of a PDE backstepping delay-compensated boundary controller for a reaction-diffusion partial differential equation (PDE) with respect to a nominal delay subject to stochastic error disturbance. The…

The problem of finding the set of all multi-model robust PID and three-term stabilizers for discrete-time systems is solved in this paper. The method uses the fact that decoupling of parameter space at singular frequencies is invariant…

Exponential stability of the second order linear delay differential equation in $x$ and $u$-control $$ \ddot{x}(t)+a_1(t)\dot{x}(h_1(t))+a_2(t)x(h_2(t))+a_3(t)u(h_3(t))=0 $$ is studied, where indirect feedback control…

In this paper we first study the fixed-time stabilizability of discrete-time switched linear control systems. Using a geometric approach, we derive conditions under which such systems can be stabilized within a prescribed number of steps,…

The five libration points of a sun-planet system are stable or unstable fixed positions at which satellites or asteroids can remain fixed relative to the two orbiting bodies. A moon orbiting around the planet causes a time-dependent…

Soft actuators offer compliant and safe interaction with an unstructured environment compared to their rigid counterparts. However, control of these systems is often challenging because they are inherently under-actuated, have infinite…

In this paper, we consider the wave equation with both a viscous Kelvin-Voigt and frictional damping as a model of viscoelasticity in which we incorporate an internal control with a moving support. We prove the null controllability when the…

The plants of nano air vehicles (NAVs) are generally unstable, adversely coupled, and uncertain. Besides, the autopilot hardware of a NAV has limited sensing and computational capabilities. Hence, these vehicles need a single controller…

We provide a partially affirmative answer to the following question on robustness of polynomial stability with respect to sampling: ``Suppose that a continuous-time state-feedback controller achieves the polynomial stability of the…

Assurance of asymptotic trajectory tracking in robotic manipulators with a smooth control law in the presence of unmodeled dynamics or external disturbance is a challenging problem. Recently, it is asserted that it is achieved via a…

Passivity-based control is a cornerstone of control theory and an established design approach in robotics. Its strength is based on the passivity theorem, which provides a powerful interconnection framework for robotics. However, the design…

Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…

This paper discusses the stability of an equilibrium point of an ordinary differential equation (ODE) arising from a feed-forward position control for a musculoskeletal system. The studied system has a link, a joint and two muscles with…

Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. However, the practical implementation of this method is…