相关论文: A negative imaginary approach to hybrid integrator…
Feedback control systems using sensors and actuators such as piezoelectric sensors and actuators, micro-electro-mechanical systems (MEMS) sensors and opto-mechanical sensors, are allowing new advances in designing such high precision…
This paper presents necessary and sufficient conditions under which a linear system of relative degree either one or two is state feedback equivalent to a negative imaginary (NI) system. More precisely, we show for a class of linear…
Negative imaginary (NI) systems play an important role in the robust control of highly resonant flexible structures. In this paper, a generalized NI system framework is presented. A new NI system definition is given, which allows for…
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…
This paper covers recent developments in the theory of negative imaginary systems and their application to the control of highly resonant flexible structures. The theory of negative imaginary systems arose out of a desire to unify a number…
A new definition of discrete-time negative imaginary (NI) systems is provided. This definition characterizes the dissipative property of a zero-order hold sampled continuous-time NI system. Under some assumptions, asymptotic stability can…
In this paper, we present a strictly negative imaginary state feedback control methodology for relative degree two negative imaginary systems such as flexible structures with collocated sensors and actuators. We show that by augmenting a…
We propose a neural control method to provide guaranteed stabilization for mechanical systems using a novel negative imaginary neural ordinary differential equation (NINODE) controller. Specifically, we employ neural networks with desired…
In this paper, we present necessary and sufficient conditions under which a linear time-invariant (LTI) system is state feedback equivalent to a negative imaginary (NI) system. More precisely, we show that a minimal LTI strictly proper…
This paper presents some physical interpretations of recent stability results on the feedback interconnection of negative imaginary systems. These interpretations involve spring mass damper systems coupled together by springs or RLC…
This paper presents a velocity-free position control strategy for quadrotor unmanned aerial vehicles based on nonlinear negative imaginary (NNI) systems theory. Unlike conventional position control schemes that require velocity measurements…
We propose a discrete-time integral resonant control (IRC) approach for negative imaginary (NI) systems, which overcomes several limitations of continuous-time IRC. We show that a discrete-time IRC has a step-advanced negative imaginary…
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…
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…
We prove a small-gain theorem for interconnections of $n$ nonlinear heterogeneous input-to-state stable (ISS) control systems of a general nature, covering partial, delay and ordinary differential equations. Furthermore, for the same class…
In this work we present further characterizations of integral input-to-state stability (iISS) for hybrid systems. In particular, the equivalence between 0-input uniform global asymptotic stability (0-UGAS) plus uniform bounded energy…
Sufficient and necessary conditions for the stability of positive feedback interconnections of negative imaginary systems are derived via an integral quadratic constraint (IQC) approach. The IQC framework accommodates distributed-parameter…
We consider the problem of designing a feedback controller which robustly regulates an LTI system to an optimal operating point in the presence of unmeasured disturbances. A general design framework based on so-called optimality models was…
This note studies the robust output feedback stabilization problem of multi-input multi-output invertible nonlinear systems with output-dependent multipliers. An "ideal" state feedback is first designed under certain mild assumptions. Then,…
This paper presents a method for the synthesis of negative imaginary closed-loop systems with a prescribed degree of stability under the assumption of full state feedback. The approach extends existing work by using a perturbation method to…