相关论文: Matching, linear systems, and the ball and beam

By parametrizing input and state trajectories with basis functions different approximations to the constrained linear quadratic regulator problem are obtained. These notes present and discuss technical results that are intended to…

This paper tackles the problem of nonlinear systems, with sublinear growth but unbounded control, under perturbation of some time-varying state constraints. It is shown that, given a trajectory to be approximated, one can find a neighboring…

We present a procedure to simultaneously design the output feedback law and the event-triggering condition to stabilize linear systems. The closed-loop system is shown to satisfy a global asymptotic stability property and the existence of a…

This paper is devoted to a study of linear, differential and topological classifications for linear controlled systems governed by ordinary differential equations. The necessary and sufficient conditions for the linear and topological…

For linear time-invariant systems having a state matrix with uncertain sign, we formulate a minimax adaptive control problem as a zero sum dynamic game. Explicit expressions for the optimal value function and the optimal control law are…

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…

Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation degrades the performance of the control system, and in extreme…

We consider the Chance Constrained Model Predictive Control problem for polynomial systems subject to disturbances. In this problem, we aim at finding optimal control input for given disturbed dynamical system to minimize a given cost…

Layered control architectures have been a standard paradigm for efficiently managing complex constrained systems. A typical architecture consists of: i) a higher layer, where a low-frequency planner controls a simple model of the system,…

In this paper, we study the control of a class of time-invariant linear ensemble systems whose natural dynamics are linear in the system parameter. This class of ensemble control systems arises from practical engineering and physical…

A unified solution to adaptive approximation-based control for nonlinear systems with accurate and inaccurate state measurement is synthesized in this study. Starting from the standard adaptive approximation-based controller with accurate…

We consider the problem of shaping the transient step response of nonlinear systems to satisfy a class of integral constraints. Such constraints are inherent in hybrid energy systems consisting of energy sources and storage elements. While…

Controlling a large population, in the limit, a continuum, of structurally identical dynamical systems with parametric variations is a pervasive task in diverse applications in science and engineering. However, the severely underactuated…

We study a classical multiparticle system (such as Toda lattice) whose dynamics we intend to control by forces applied to few particles of the system. Various problem settings, typical for control theory are posed for this model; among…

This paper introduces a systematic method for designing robust linear controllers using output feedback in the presence of operational constraints. The design uses Nagumo's Theorem and the Comparison Lemma to guarantee constraint…

In this paper, we present two control laws that are tailored for control applications in which computational and/or communication resources are scarce. Namely, we consider minimum attention control, where the `attention' that a control task…

Motivated by station-keeping applications in various unmanned settings, this paper introduces a steering control law for a pair of agents operating in the vicinity of a fixed beacon in a three-dimensional environment. This feedback law is a…

Interconnection and damping assignment passivity-based control scheme has been used to stabilize many physical systems such as underactuated mechanical systems through total energy shaping. In this method, some partial differential…

This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly…

The model-free adaptive control (MFAC) law is a promising method in applications. We analyzed model-free adaptive control (MFAC) law through closed-loop function to widen its application range.