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We study the stability of the origin for the dynamical system x(t) = u(t)Ax(t) + (1 − u(t))Bx(t), where A and B are two 2×2 real matrices with eigenvalues having strictly negative real part, x ∊ R2 and u(.) : [0, ∞[→ [0,1] is a completely random measurable function. More precisely, we find a (coordinates invariant) necessary and sufficient condition on A and B for the origin to be asymptotically stable...
The aim of this work is to investigate the structure of time-optimal trajectories for a control system modelizing a satellite with two rotors attached along its two fixed axes. Our results extend to the general case those obtained by Sussmann and Tang in an unpublished paper where they treat a particular case described below. We end up finding a sufficient family of four parameters trajectory types...
In this paper the trajectory tracking control problem for a certain class of propagation processes modeled as Quasi-Linear Parameter Varying systems is considered. The propagation physical models are generally described by means of PDEs (partial differential equations). However in real world control problems the PDE models are usually converted into ODEs (ordinary differential equations) models adopting...
Nonlinear optimal control problems, in which state trajectories are permitted to be discontinuous at a finite number of times, and the jump times are choice variables, are analysed. Problems such as these arise in economics, lazer technique, and robototechnique. Necessary conditions for optimality, in the form of a Maximum Principle, for the impulse optimal control problems with general terminal and...
Robot soccer became a challenging area in computational intelligence and machine learning, including disciplines like real-time image processing, path planning, control and obstacle avoidance. In this uncertain and highly dynamic environment precise and fast actions are required. Defining dominance areas and implement primitives like kick, pass and dribble are crucial with the aspect of computational...
In this paper, an optimization-based iterative learning control approach is presented. Given a desired trajectory to be followed, the proposed learning algorithm improves the system performance from trial to trial by exploiting the experience gained from previous repetitions. Taking advantage of the a-priori knowledge about the systems dominating dynamics, a data-based update rule is derived which...
In this paper we consider several interconnected ISS systems supplied with ISS Lyapunov functions defined in the dissipative form. Our aim is to construct an ISS Lyapunov function for the interconnection. We provide a condition of a small gain type under which this construction is possible and describe a method of an explicit construction of such an ISS Lyapunov function.
This paper provides a necessary and sufficient condition for detectability, and an explicit construction of observers when this condition is satisfied, for chemical reaction networks of the Feinberg-Horn-Jackson zero deficiency type.
This paper reports a complete formulation of a model predictive control strategy having guaranteed nominal asymptotic stability. The formulation includes a successive linearisation procedure to obtain a linear model from a non-linear plant model. It gives a complete state-space derivation including long-range prediction, trajectory tracking and modelling of both measured feedforward disturbances and...
By using robust control techniques, this paper proposes an adaptive control for rigid robots with the following important features: under a parameter-dependent PE (Persistent Excitation) condition, it gives a guaranteed transient performance of tracking a smooth desired trajectory while assuring the parameter estimation error to go to a residual set of the origin arbitrarily fast. Simulations are...
Path planning for robot manipulators is a complex subject, which is why most research has been restricted to static environments, where off-line path planning is acceptable, and very little work has been done on dynamic environments. On-line path planning is normally based on local algorithms that end up being inefficient due to their lack of global information (local minima problems). In this paper...
This work proposes a globally convergent state estimation method for non-linear discrete-time systems, based on interval techniques. This approach is based on a Moving Horizon State Estimation method and a global optimisation technique by interval arithmetic. This state estimation algorithm provides a solution with global convergence properties, even for non-linear model. The performances of the method...
This paper considers the impulsive-smooth behavior of a switched system interconnection described by the first-order kernel representation. The switched interconnection consists of past and future trajectories which are switched at a certain instant by an external switching mechanism. We derive necessary and sufficient conditions for the concatenability of the past and future behaviors both in the...
In this note we extend the design tool presented in [6] for robust stabilization of nonminimum-phase nonlinear systems to the case of output regulation problems. As in [6] we take advantage from a design tool known in the linear literature as “vibrational feedback” to handle the presence of unstable zero dynamics in output regulation problems in presence of uncertainties. This work frames in a research...
In this paper we present a sufficient condition for global observability of nonlinear systems on manifolds that generalizes Aeyels' global observability result for Morse-Smale systems. Our main theorem establishes global observability under considerably weaker assumptions than Aeyels' Morse-Smale condition. However, we have to assume additionally real analyticity of the system. With this result at...
In this paper, we propose an architecture for formation reconfiguration of a team of autonomous agents navigating within an obstacle-populated environment. Our approach is based on abstracting the agent formation by a rectangular grid. We develop a coordination strategy that ensures collision-free transitions between arbitrarily defined formations. This coordination strategy is based on a well-established...
We propose a novel method for velocity estimation and detection of a moving object in an image sequence. This purpose is achieved by using discrete wavelet transform and parallel bank of extended complex Kalman filter in the transform/spatio-temporal mixed-domain. In the mixed-domain, image sequence processing is replaced by l-dimensional(l-D) complex signal processing. Then, trajectory signal with...
In this paper, the problem of the determination of the maximal controlled invariant set of linear systems subject to polyhedral input and state constraints, together with the corresponding state-feedback control law is investigated. Instead of computing one-step reachable sets or maximizing the volume of a specific invariant set, the proposed method consists of the iterative expansion of an initial...
This paper describes a solution to the problem of trajectory tracking control of autonomous surface craft (ASC) in the presence of constant ocean currents. The solution proposed is rooted in nonlinear model predictive control (MPC) techniques and addresses explicitly state and input constraints. Whereas state saturation constraints are added to the underlying optimization cost functional as penalties,...
POCP is a new Matlab package running jointly with GloptiPoly 3 and, optionally, YALMIP. It is aimed at nonlinear optimal control problems for which all the problem data are polynomial, and provides an approximation of the optimal value as well as some control policy. Thanks to a user-friendly interface, POCP reformulates such control problems as generalized problems of moments, in turn converted by...
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