相关论文: Nonholonomic Robot Parking by Feedback -- Part II:…
It has been known in the robotics literature since about 1995 that, in polar coordinates, the nonholonomic unicycle is asymptotically stabilizable by smooth feedback, even globally. We introduce a modular design framework that selects the…
Since the mid-1990s, it has been known that, unlike in Cartesian form where Brockett's condition rules out static feedback stabilization, the unicycle is globally asymptotically stabilizable by smooth feedback in polar coordinates. In this…
This paper focuses on the problem of constructing time-varying feedback laws that asymptotically stabilize a given part of the state variables for nonlinear control-affine systems. It is assumed that the class of systems under consideration…
We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different…
The recent development of globally strict control Lyapunov functions (CLFs) for the challenging unicycle parking problem provides a foundation for pursuing optimality. We address this in the inverse optimal framework, thereby avoiding the…
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…
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 concerns the small-time stabilization of some classes of mechanical systems which are not stabilizable by means of at least continuous state feedback laws. This is the case of nonholonomic mechanical systems, an example being the…
Non-overshooting stabilization is a form of safe control where the setpoint chosen by the user is at the boundary of the safe set. Exponential non-overshooting stabilization, including suitable extensions to systems with deterministic and…
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…
Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…
This note studies the robust output feedback stabilization problem of a class of multi-input multi-output invertible nonlinear systems, for which an "ideal" state feedback based on feedback linearization can be designed under certain mild…
This paper is devoted to the development of adaptive control schemes for uncertain discrete-time systems, which guarantee robust, global, exponential convergence to the desired equilibrium point of the system. The proposed control scheme…
This survey paper deals with the stabilization of nonlinear systems by analyzing the controlling method in terms of state feedback and output feedback. A brief overview of some literature on how the feedback controller of some dynamic…
This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
Feedback stabilization of an ensemble of non interacting half spins described by Bloch equations is considered. This system may be seen as a prototype for infinite dimensional systems with continuous spectrum. We propose an explicit…
For general control-affine nonlinear systems in the positive orthant, and with positive controls, we show how strict CLFs can be utilized for inverse optimal stabilization. Conventional ``LgV'' inverse optimal feedback laws, for systems…
We examine robust output feedback control of discrete-time nonlinear systems with bounded uncertainties affecting the dynamics and measurements. Specifically, we demonstrate how to construct semi-infinite programs that produce gains to…
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,…