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

Approximate simulation, an extension of simulation relations from formal methods to continuous systems, is a powerful tool for hierarchical control of complex systems. Finding an approximate simulation relation between the full "concrete"…

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.…

Feedback or closed-loop control allows dynamical systems to increase their performance up to a limit imposed by the second law of thermodynamics. It is expected that within this limit, the system performance increases as the controller uses…

Linear control theory is used to develop an improved localized control scheme for spatially extended chaotic systems, which is applied to a Coupled Map Lattice as an example. The optimal arrangement of the control sites is shown to depend…

In this paper, we study the problem of extremum seeking control for mechanical systems in dissipation-free environments. This includes attitude control of satellites in space and displacement control of rigid bodies in ideal fluids. The…

A robust model predictive control scheme for a class of constrained norm-bounded uncertain discrete-time linear systems is developed under the hypothesis that only partial state measurements are available for feedback. Off-line calculations…

A new framework for adaptive regulation to invariant sets is proposed. Reaching the target dynamics (invariant set) is to be ensured by state feedback while adaptation to parametric uncertainties is provided by additional adaptation…

We introduce discontinuous solutions to nonlinear impulsive control systems with state time delays in the dynamics and derive necessary optimality conditions in the form of a Maximum Principle for associated optimal control problems. In the…

We present a method for optimal control with respect to a linear cost function for positive linear systems with coupled input constraints. We show that the optimal cost function and resulting sparse state feedback for these systems can be…

This paper studies regularity properties of optimization-based controllers, which are obtained by solving optimization problems where the parameter is the system state and the optimization variable is the input to the system. Under a wide…

A reflection of our ultimate understanding of a complex system is our ability to control its behavior. Typically, control has multiple prerequisites: It requires an accurate map of the network that governs the interactions between the…

The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…

Many cyber-physical systems can naturally be formulated as switched systems with constrained switching. This includes systems where one of the signals in the feedback loop may be lost. Possible sources for losses are shared or unreliable…

This paper addresses the problem of computing controllers that are correct by design for safety-critical systems and can provably satisfy (complex) functional requirements. We develop new methods for models of systems subject to both…

In a recent paper we have shown that data collected from linear systems excited by persistently exciting inputs during low-complexity experiments, can be used to design state- and output-feedback controllers, including optimal Linear…

The formal analysis and design of control systems is one of recent trends in control theory. In this area, in order to reduce the complexity and scale of control systems, finite abstractions of control systems are introduced and explored.…

We consider the tracking of geometric paths in output spaces of nonlinear systems subject to input and state constraints without pre-specified timing requirements. Such problems are commonly referred to as constrained output path-following…

This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…

In this letter, we propose a control framework for human-in-the-loop systems, in which many human decision makers are involved in the feedback loop composed of a plant and a controller. The novelty of the framework is that the decision…

This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…