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This paper studies the dynamics of electricity markets with unknown utility functions (i.e., the profit functions of consumers and the cost functions of suppliers). The market clearing procedure is formulated as a social welfare optimization problem, and the dynamics of electricity markets is modeled as primal-dual dynamics based on gradient estimation. The gradients of the unknown utility functions...
In this paper, we propose a new approach to compute the domain of variation of the vehicle stable state, described with two essential elements: the longitudinal velocity and the side slip angle at the vehicle centre of gravity. The stable state is determined in respect to risks involving vehicle roll-over and over/under steering. The stable state domain is computed in a guaranteed way, using interval...
This paper presents several results on performance analysis for a class of uncertain linear quantum systems subject to either quadratic or non-quadratic perturbations in the system Hamiltonian. Also, coherent guaranteed cost controllers are designed for the uncertain quantum systems to achieve improved control performance. The coherent controller is realized by adding a control Hamiltonian to the...
Based on the widely used model reference adaptive control (MRAC), a new controller is proposed to tackle a class of single-input(SI) systems in the presence of matched uncertainties and input constraints. The core idea is to substitute conventional simple direct adaptive control for composite model adaptive control (CMRAC). The main control structure that results in tractable responsibility is discussed...
In this paper we propose a novel approach in designing Robust Model Predictive Controllers (abbr. MPC) for systems with a Prescribed Performance in the states. In particular, general continuous-time nonlinear systems which are constrained in the states by prescribed performance functions and are affected by bounded, persistent, additive disturbances, are considered in this paper. With the proposed...
This paper deals with the design of optimal consensus control laws for a set of identical first and second order agents. Delayed versions of the relative states with respect to neighbours is used in the proposed consensus laws. Two different approaches are adopted: (i) assuming no delay is present in the exchange of information, design an optimal consensus law and for those gains, determine the maximum...
A new hybrid control scheme for inertial systems is proposed. The horizontal displacement controller is such that, the system moves from one hovering position to another one by following a desired continuous trajectory. The closed-loop behaves as a discrete first order system. The control scheme is illustrated in a numerical simulation of a PVTOL (Planar Vertical Take-Off and Landing).
We present new results for formation control in the plane. We work with the usual assumptions stipulating that each agent in the formation has only access to the position of its leader(s) and the target edge length it has to maintain, i.e. only has partial knowledge of the global objective and global state of the formation. In this paper, we show how local stability of the formation around a target...
The paper proposes constructive conditions for verification of input-to-state stability property for discontinuous systems using geometric homogeneity. Two sets of conditions are developed: for a class of homogeneous and locally homogeneous systems described by differential inclusions. The advantage of the proposed conditions is that they are not based on the Lyapunov function method, but more related...
This paper deals with a novel robust estimation methodology yielding the amplitudes, frequencies and phases of the components of a biased multi-sinusoidal signal in presence of a bounded disturbance on the measurement. The proposed method is based on a suitable adaptive observer in which the parameters' adaptation law is equipped with an excitation-based switching logic. The stability analysis shows...
In this paper the command governor-based model reference control architecture is developed and analyzed for uncertain dynamical systems in the presence measurement noise and actuator dynamics. Specifically, the command governor is a dynamical system that adjusts the trajectory of a given command in order to enable an uncertain system to be able to follow an ideal reference system capturing a desired...
The paper focuses on the problem of consensus in the framework of hybrid systems. We consider networks of scalar agents interconnected via directed graphs. Precisely, the network consists of a large number of agents belonging to several clusters. Each cluster is represented by a fixed directed strongly connected graph and almost all the time there is no link between different clusters. In each cluster...
This paper provides analytical results regarding the stability of linear discrete-time systems with stochastic delays. Necessary and sufficient stability conditions are derived by using the second moment dynamics which can be used to draw stability charts. The results are applied to a simple connected vehicle system where the stability regions are compared to those given by the mean dynamics. Our...
In this paper, iterative learning control for the trajectory tracking problem of heterogeneous systems interconnected arbitrarily is presented. The existing interconnected system is remodeled as a 1D system including all the subsystems, and then ILC scheme is designed and analyzed by using the discrete-time linear repetitive process (DLRP) which is based on the 2D system theory. The iterative control...
Upper and lower bounds for spectral radius of positive matrices are derived, and are shown to be tight. These bounds are characterized by the determinant and trace of some related matrix, and they find applications in networked control systems (NCS) over fading channels. Results are obtained for the relation between mean-square (MS) stabilization and standard ℋ2 optimal control, and for the MS stabilizability...
This paper presents a distributed adaptive formation control method for a class of uncertain multiple Euler-Lagrange systems. The proposed approach is based on the graph theory and an adaptive dynamic surface control, where the system uncertainties are approximately modelled by interval type-2 neuro-fuzzy networks. In this study, the robust stability of the closed-loop system is guaranteed by the...
In this paper, we present a new observer-based controller design method for a class of time-varying delay nonlinear systems. The key idea lies in the use of the Young's relation in a judicious manner which leads to a less conservative LMI synthesis condition. On the other hand, the Lipschitz nonlinearity of the system is treated by using a new reformulation of the Lipschitz property. This latter,...
This paper proposes new sufficient conditions for stability analysis of Piecewise Affine (PWA) systems. The conditions are based on a convex combination of Piecewise Quadratic (PWQ) Lyapunov functions and are given in terms of Linear Matrix Inequalities (LMIs), which can be solved efficiently using available software packages. There are three contributions of the new conditions presented in this paper...
In this work, we analyze the stability properties of a recently proposed dynamical system that describes the evolution of the probability of infection in a network. We show that this model can be viewed as a concave game among the nodes. This characterization allows us to provide a simple condition, that can be checked in a distributed fashion, for stabilizing the origin. When the curing rates at...
External excitations of oscillations which are caused by wind and waves are the main sources for disturbances in the task of load positioning by means of ship-mounted cranes in marine applications. These disturbances can be described with good accuracy by stochastic models. Although methods for the stability analysis of dynamic systems, which are subject to stochastic disturbances, are readily available,...
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