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The explicit consideration of a communication channel model in a feedback control loop is known to create a new type of fundamental limitation for stabilisability on the channel signal-to-noise ratio (SNR) when the continuous-time plant model is unstable. In this paper we quantify these type of limitations subject to model uncertainties when a robust controller is in place instead of the optimal SNR...
This paper discusses a multi-input multi-output (MIMO) finite impulse response (FIR) feedforward design. The design is intended for systems that have (non-)minimum phase zeros in the plant description. The zeros of the plant (either minimum or non-minimum phase) are used in the shaping of the reference signals whereas the poles of the plant are used in constructing feedforward forces. The FIR coefficients...
In this paper, the fixed final-time near optimal output regulation of affine nonlinear discrete-time systems with unknown system dynamics is considered. First, a neural network (NN)-based observer is proposed to reconstruct both the system state vector and control coefficient matrix. Next, actor-critic structure is utilized to approximate the time-varying solution of the Hamilton-Jacobi-Bellman (HJB)...
To provide more tuning freedom in the trade-off between overshoot and settling times of PID controlled stages, a PID controller with a fractional order integrator is studied. The fractional order integrator has two parameters dependent on the order λ. Namely, the corner frequency ωi(λ) and the gain kp(λ). Both parameters are designed such that robust stability is maintained independent on the choice...
A general approach is presented to analyze the worst case input/output gain for an interconnection of a linear parameter varying (LPV) system and an uncertain or nonlinear element. The input/output behavior of the nonlinear/uncertain block is described by an integral quadratic constraint (IQC). A dissipation inequality is proposed to compute an upper bound for this gain. This worst-case gain condition...
Dissipativity is a valuable tool for analysis and synthesis of dynamical systems, however, the search for an appropriate storage function to show the property is often not straightforward. This paper uses sum of squares (SOS) optimization methods to determine whether a nonlinear or switched system is dissipative. This is especially useful for switched systems where notions of dissipativity involve...
Dual-loop EGR (exhaust gas recirculation) systems can provide the authorities of controlling the engine intake manifold gas conditions for steady-state and transient operations of advanced combustion modes. Due to the inherent transport delay of an air-path system, the response of the intake manifold oxygen concentration is usually slower than those of the pressure and temperature under conventional...
Computation of optimal control laws for systems with non-classical information patterns and its relation to signaling is still an open problem. The notion of information states redefines such optimal control problems as centralized problems on arbitrary function spaces. We propose a method to transform the resulting functional optimization problem into a multi-parametric mixed-integer program. While...
We study a dynamic vehicle routing problem for moving targets. Our setup is as follows: (i) targets appear uniformly distributed on a unit disk via a temporal Poisson process and move radially outward with a constant speed v, (ii) a single vehicle with speed greater than that of the targets aims to intercepts them before they escape the disk. With the goal of maximizing the fraction of captured targets...
This work first presents a few results on stabilization of a general class of nonlinear sampled-data systems which are subsequently used in the design of a model predictive control (MPC) scheme that renders the origin of the nonlinear sampled-data system exponentially stable. Second, a novel two-layer economic model predictive control (EMPC) structure that addresses provable finite-time and infinite-time...
In this paper the source localization problem is considered without any knowledge of the signal propagation model, beyond the fact that the measured signal, e.g. received signal strength, strictly decreases with distance. Three algorithms dedicated to various scenarios are developed. Their convergence and other properties are established.
This paper presents a decentralized hybrid supervisory control approach for two unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower helicopters are abstracted to finite state machines. Then, a discrete supervisor is designed in a modular way for different components of the formation mission. Furthermore,...
This paper proposes a new discretization technique with constant sampling time for time-invariant systems with uncertain parameters belonging to a polytopic domain. The aim is to provide an equivalent discrete-time representation of the continuous-time system whose ℋ2 guaranteed cost is an upper bound for the ℋ2 worst case norm of the original system. The resulting discrete-time model is described...
This paper presents an algorithmic technique for optimal mode scheduling in switched-mode dynamical systems under the constraint of a minimum dwell time. The technique is based on an optimal control formulation of the problem and on narrowing the optimality gap associated with the maximum principle. It consists of the following four successive steps: (i) solving the relaxed optimal control problem;...
This paper investigates the consensus control of a class of Lipchitz nonlinear multi-agent systems with communication time delay. Upon exploring certain features of Laplacian matrix, global consensus control conditions are identified using Lyapunov method in the time domain. The proposed control only uses relative state information of the system. Numerical simulations validate the effectiveness of...
In this paper, we address the fixed-time consensus problem for multi-agent systems in networks with directed and switching interaction topology. With the introduction of mirror operation, two global distributed nonlinear consensus protocols are constructed for each first-order agent under strongly connected information flow. The distinctive feature of this paper is to address the explicit bounds of...
In this work, the D-stability problem is considered for a class of discrete-time Takagi-Sugeno (T-S) fuzzy descriptor systems with multiple state delays. In terms of linear matrix inequality, sufficient conditions are proposed to ensure that all poles of the descriptor T-S fuzzy system are located within a disk contained in the unit circle. Moreover, a sufficient condition is presented such that the...
We consider a model for in-host HIV-1 infection dynamics developed and validated with patient data in earlier work [1]. We revisit the earlier model in light of progress over the last several years in understanding of HIV-1 progression in humans. We then consider statistical models to describe the data and use these with residual plots in weighted least squares problems to develop accurate descriptions...
In this paper techniques to identify and apply a restricted input subspace within the iterative learning control framework are developed. This is motivated by the increasing popularity of electrode arrays within rehabilitation and assistive technology communities, which allow functional electrical stimulation (FES) to be applied independently to each array element. This enables more selective muscle...
In this paper, we propose a traffic network flow model particularly suitable for qualitative analysis as a dynamical system. Flows at a junction are determined by downstream supply of capacity (lack of congestion) as well as upstream demand of traffic wishing to flow through the junction. This approach is rooted in the celebrated Cell Transmission Model for freeway traffic flow, and we analyze resulting...
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