相关论文: On convergence analysis of feedback control with i…
An analysis of stick-slip behavior and convergence of trajectories in the feedback-controlled motion systems with discontinuous Coulomb friction is provided. A closed-form parameter-dependent stiction region, around an invariant equilibrium…
Standard problem of one-degree-of-freedom mechanical systems with Coulomb friction is revised for a relay-based feedback stabilization. It is recalled that such a system with Coulomb friction is asymptotically stabilizable via a relay-based…
The impulse-based discrete feedback control has been proposed in previous work for the second-order motion systems with damping uncertainties. The sate-dependent discrete impulse action takes place at zero crossing of one of both states,…
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 stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…
We consider nonlinear control systems for which there exist some structural obstacles to the design of classical continuous stabilizing feedback laws. More precisely, it is studied systems for which the backstepping tool for the design of…
Feedback optimization algorithms compute inputs to a system using real-time output measurements, which helps mitigate the effects of disturbances. However, existing work often models both system dynamics and computations in either discrete…
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…
This note presents an extension to the adaptive control strategy presented in [1] able to counter eventual instability due to disturbances at the input of an otherwise $\mathcal{L}_2$ stable closed-loop system. These disturbances are due to…
It is well-known that inverse dynamics models can improve tracking performance in robot control. These models need to precisely capture the robot dynamics, which consist of well-understood components, e.g., rigid body dynamics, and effects…
Synergistic hybrid feedback refers to a collection of feedback laws that allow for global asymptotic stabilization of a compact set through the following switching logic: given a collection of Lyapunov functions that are indexed by a logic…
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…
Rigid bodies, plastic impact, persistent contact, Coulomb friction, and massless limbs are ubiquitous simplifications introduced to reduce the complexity of mechanics models despite the obvious physical inaccuracies that each incurs…
For mechanical systems we present a controller able to track an unknown smooth signal, converging in finite time and by means of a continuous control signal. The control scheme is insensitive against unknown perturbations with bounded…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
We establish a separation principle for the output feedback stabilisation of state-affine systems that are observable at the stabilization target. Relying on control templates (recently introduced in [4]), that allow to approximate a…
Feedback control schemes are a promising way to manipulate transport properties of driven colloidal suspensions. In the present article we suggest a feedback scheme to enhance the collective transport of colloidal particles with repulsive…
This work studies the design problem of feedback stabilizers for discrete-time systems with input delays. A backstepping procedure is proposed for disturbance-free discrete-time systems. The feedback law designed by using backstepping…
Predictor-based stabilization results are provided for nonlinear systems with input delays and a compact absorbing set. The control scheme consists of an inter-sample predictor, a global observer, an approximate predictor, and a nominal…
Following Demidovich's concept and definition of convergent systems, we analyze the optimal nonlinear damping control, recently proposed [1] for the second-order systems. Targeting the problem of output regulation, correspondingly tracking…