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In this paper, we develop a new low-and-high gain feedback design methodology using a ultra-short-horizon Model Predictive Controller (MPC) for global asymptotic stabilization of discrete-time linear system subject to input saturation. The proposed method yields improved performance over classical low-and-high gain design and has reduced computational complexity and guaranteed global asymptotic stability...
In this paper we study control under input saturation and disturbances of neutrally stable and critically unstable linear systems. It is shown that a feedback controller can be designed so that the closed-loop states remain bounded for disturbances which belong to two different classes depending on the specific system structure and the equilibrium is globally asymptotically stable.
In this paper we consider the output synchronization problem for heterogeneous networks of linear agents. The network provides each agent with a linear combination of its own output relative to that of neighboring agents, and it allows the agents to exchange information about their own internal observer estimates. We design decentralized controllers based on setting the control input of a single root...
We present an observer for estimating position, velocity, attitude, and gyro bias, by using inertial measurements of accelerations and angular velocities, magnetometer measurements, and satellite-based measurements of position and (optionally) velocity. The design proceeds in two stages: in Stage I, an attitude and gyro bias estimator is designed based on an unmeasured signal. In Stage II, that design...
We study in this paper the control of discrete-time neutrally stable and critically unstable linear systems subject to input saturation and disturbances. It is shown that a feedback controller can be designed so that the closed-loop states remain bounded for two classes of disturbances and the equilibrium is globally asymptotically stable. This paper is a companion of [7].
In this paper we begin by assuming that an observer with a corresponding quadratic-type Lyapunov function has been designed for a given nonlinear system. We then consider the problem that arises when the output of that nonlinear system is not directly available; instead, it acts as an input to a second, linear system from which a partial-state measurement is in turn available. We develop an observer...
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