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Deployment, coverage and partitioning are fundamental tasks for robotic networks. Recently proposed algorithms achieve these tasks under a critical assumption: information is exchanged synchronously among all agents and long-range communication is possibly required. This work proposes novel deployment and partitioning algorithms that require only asynchronous pairwise (so-called gossip) communication...
We propose a framework to solve a closed-loop, optimal tracking control problem for a parabolic partial differential equation (PDE) via diffusivity, interior, and boundary actuation. The approach is based on model reduction via proper orthogonal decomposition (POD) and Galerkin projection methods. A conventional integration-by-parts approach during the Galerkin projection fails to effectively incorporate...
A central tool in systems theory for synthesizing control laws that achieve stability are control Lyapunov functions (CLFs). Classically, a CLF enforces that the resulting closed-loop state trajectory is contained within a cone with a fixed, predefined shape, and which is centered at and converges to a desired converging point. However, such a requirement often proves to be overconservative. In this...
It is well known that a Hurwitz Metzler matrix is also diagonally stable. We obtain a necessary and sufficient condition for a matrix A to be diagonally stable from the Kalman-Yacubovich-Popov lemma. This condition is equivalent to requiring that a pair of LTI systems, of lower dimension, have a common Lyapunov function. This fact is made use of to derive very simple conditions for the Hurwitz stability...
This paper proposes a swinging-up and stabilization method for inverted pendulums based on a pendulum oscillation model. A normalized oscillation model is derived by using only one model parameter, i.e., the natural frequency of a pendulum. As a control strategy, energy-based control with a normalized energy model is utilized for the swinging-up from the pendant position. For the stabilization of...
The influence of neglected dynamics appearing as multiplicative uncertainties on a closed-loop system with input and output saturations is studied. Constructive conditions based on (possibly linear) matrix inequalities, are provided in order to compute the influence of these beforehand neglected dynamics on both the estimate of the closed-loop system basin of attraction and the performance. The case...
This paper focuses on the design and validation of a control framework for a Ducted-Fan Miniature Aerial Vehicle (MAV) realized by the University of Bologna in order to pursuit simple high level operations like surveillance, video capture, etc. After a description of the aircraft prototype and the nonlinear control law, two different control scenarios are then addressed, the first one characterized...
In this paper a nonlinear control has been designed using the dynamic inversion approach for automatic landing of unmanned aerial vehicles (UAVs), along with associated path planning. This is a difficult problem because of light weight of UAVs and strong coupling between longitudinal and lateral modes. The landing maneuver of the UAV is divided into approach, glideslope and flare. In the approach...
Terminal iterative learning control (TILC) is a cycle-to-cycle control approach that can be used on thermoforming oven. TILC automatically tune the heater temperature setpoints such that the temperature at the surface of the plastic sheet tracks a desired temperature profile. Industrial thermoforming ovens can have a large number of temperature sensor (inputs) and heaters (outputs) which makes the...
Motivated by the adaptive control problem for systems with hysteresis, a two-time-scale averaging framework is presented in this paper for systems involving operators, by extending the work of Teel and co-workers. The developed averaging theory is applied to the analysis of a model reference adaptive inverse control scheme for a system consisting of linear dynamics preceded by a Prandtl-Ishlinkskii...
This paper presents an Iterative Learning Controller (ILC) design for Self-Servowriting (SSW) process in Hard Disk Drives (HDDs). In SSW, the position and timing information are written onto the disk surface by referring to the previously written servo information. This process is repeated until the whole disk is completely written. The main issue in this process is Radial Error Propagation (REP),...
This paper presents an algorithm to interpolate between two observer-based controllers for a linear multivariable system such that the closed loop system remains stable throughout the interpolation. The method interpolates between the inverse Lyapunov functions for the two original state feedbacks and between the Lyapunov functions for the two original observer gains to determine an intermediate observer-based...
This paper presents a new modeling and robust control approach for active noise blocking (ANB). The proposed modeling technique is based on a new non-minimal state-space realization (NSSR) of continuous-time multiple-input multiple-output (MIMO) linear time-invariant (LTI) systems. The NSSR model generates a non-minimal set of states for a given system, using measured inputs and outputs, without differentation...
Previously introduced slow-fast decomposition bumpless transfer is extended to 2-degree-of-freedom configuration of candidate controllers. An easy implementation with observable canonical form of slow modes controllers is introduced. For controllers that have only fast modes, an uncontrollable-slow-modes state augmentation technique is provided. Simulations demonstrate comparative advantages over...
We present a new framework for describing multi-agent systems with hybrid interacting dynamics, where the interaction between agents occurs at both the continuous and discrete levels. We define multi-agent systems as Interconnected Hybrid Systems, recast fundamental hybrid concepts such as hybrid execution and reachability in this new interconnected hybrid systems framework, and prove a necessary...
A fundamental question for observation systems based on wireless sensor network (WSN) is to achieve the best tradeoff between estimation precision and many design factors. One challenge of this kind is to select a small number of sensors, if possible, to observe the environment, and thus conserve precious onboard battery energy by transmitting only valuable data to the base station. Although many...
In this paper we present an adaptive output regulation approach for idle mode simulation on combustion engine test benches. The combustion oscillations are modeled applying a parameter dependent exosystem whose parameter is related to the mean value engine speed which is a partly unknown quantity. Due to this reason we adapt existing literature on redundant adaptive internal model design and reduced...
The output tracking problem of periodic reference signals (of known period) for single-input single-output observable minimum phase uncertain linear time-invariant systems with unitary relative degree is considered. A continuous global iterative learning control via output error feedback is designed which guarantees closed loop boundedness and asymptotic output tracking, thus improving the L2 convergence...
This paper is concerned with the reliable Hinfin filtering problem against sensor failures for a class of continuous time systems with simultaneous sector-bounded nonlinearities and varying time delay. The resulting design is such that the filtering error system is asymptotically stable and meets the prescribed Hinfin norm constraint in the nominal case as well as in the sensor failure case. A sufficient...
Control of a satellite system with an electrodynamic tether as actuator is a time-periodic and underactuated control problem. This paper considers the tethered satellite in a Hamiltonian framework and determines a port-controlled Hamiltonian formulation that adequately describes the nonlinear dynamical system. Based on this model, a nonlinear controller id designed that will make the system asymptotically...
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