相关论文: Finite-Time Teleoperation of Euler-Lagrange System…

In this paper, we consider the analysis and control of continuous-time nonlinear systems to ensure universal shifted stability and performance, i.e., stability and performance w.r.t. each forced equilibrium point of the system. This…

We study finite-time flocking for an infinite set of Cucker-Smale particles with sublinear velocity coupling under fixed and switching sender networks. For this, we use a component-wise diameter framework and exploit sub-linear dissipation…

We propose novel event-triggered synergistic controllers for nonlinear continuous-time plants by incorporating event-triggered control into stabilizing synergistic controllers. We highlight that a naive application of common…

Building a low-latency humanoid teleoperation system is essential for collecting diverse reactive and dynamic demonstrations. However, existing approaches rely on heavily pre-processed human-to-humanoid motion retargeting and position-only…

This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs. As customarily in passivity-based…

In this paper, we investigate the problem of tracking formations driven by bearings for heterogeneous Euler-Lagrange systems with parametric uncertainty in the presence of multiple moving leaders. To estimate the leaders' velocities and…

We will show that there is a universal connection between the achievable closed-loop dynamics and the corresponding feedback controller that produces it. This connection shows promise to lead to new methods for robust nonlinear control in…

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…

This work deals with the event-triggered finite-time control for high-order systems based on an implicit Lyapunov function (ILF). With the construction of an inverse optimal problem, a novel expression of ILF is obtained. By designing the…

We investigate a control technique for spatially extended systems combining spatial filtering with a previously studied form of time-delay feedback. The scheme is naturally suited to real-time control of optical systems. We apply the…

We consider the finite-time stabilization of homogeneous quasilinear hyperbolic systems with one side controls and with nonlinear boundary condition at the other side. We present time-independent feedbacks leading to the finite-time…

This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…

In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…

Motivated by the goal of learning controllers for complex systems whose dynamics change over time, we consider the problem of designing control laws for systems that switch among a finite set of unknown discrete-time linear subsystems under…

In this paper, we present a control framework for a general class of control-affine nonlinear systems under spatiotemporal and input constraints. Specifically, the proposed control architecture addresses the problem of reaching a given…

We consider funnel control for linear infinite-dimensional systems that are impedance passive, meaning that they satisfy an energy balance in which the stored energy equals the squared norm of the state and the supplied power is the inner…

We consider the problem of designing a feedback controller that guides the input and output of a linear time-invariant system to a minimizer of a convex optimization problem. The system is subject to an unknown disturbance that determines…

This paper proposes an approach to aggregate nonstructured power system controllers preserving the dynamical characteristics of the original devices. The method is based on linear operations that use the frequency response of the elements,…

Infinite-dimensional linear systems with unbounded input and output operators are considered. For the purpose of finite-dimensional observer-based state feedback, an observer approximation scheme will be developed which can be directly…

A geometric formulation for stabilization of systems with one degree of underactuation which fully solves the energy shaping problem for these system is given. The results show that any linearly controllable simple mechanical system with…