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This paper is devoted to the trajectory tracking and set-point feedback control problems formulated for an articulated tractor-trailer vehicle with off-axle hitching. The Vector Field(s) Orientation (VFO) control method presented in the paper allows treating the two tasks in a unified manner. Proposed concept leads to smooth and non-oscillatory vehicle motion quality together with intuitive geometrical...
This paper introduces sliding mode control with ellipsoidal sliding surface which have the characteristic of finite convergence time to the equilibrium point from any initial condition. The proposed method is more robust than conventional method because it has no reaching phase. It converge to the equilibrium point faster than conventional method. The conventional linear sliding surface can not guarantee...
The article presents an approach for designing a feedforward compensation of a spatially distributed disturbance acting on a boundary controlled one dimensional heat conduction system. The disturbance affects the system behavior via a fixed spatial characteristic meaning that the spatial influence of the time dependent measured disturbance signal is a space dependent model parameter. The compensation...
This paper develops a kinematic path-tracking algorithm for a nonholonomic mobile robot using an improved iterative learning control (I-ILC) technique. The proposed algorithm produces a velocity command to the wheeled robot, in addition, the state disturbances and measurement noises are taken into consideration. In the learning rule, an adjustable parameter is defined and by adjusting this parameter...
In this paper, we present a decentralized trajectory tracking control with collision avoidance for an arbitrarily large group of heterogeneous, nonholonomic vehicles. We consider vehicles with different constant speeds and bounded turning rates (e.g., airplanes), for which their avoidance maneuverability is limited. The proposed controller is divided in two parts: an auxiliary system and a local heading...
This paper addresses the concept of adversary control for a single-input dynamical system. The system evolves in the discrete-time domain and is subject to both state and input hard constraints. A control law guarantees positive invariance and contractivity of a bounded, convex, polyhedral set with respect to the system as well as asymptotic stability of the origin with maximum convergence rate. Periodically,...
A time-varying controller is proposed to simultaneously solve the stabilization and the tracking problem of wheeled mobile robots via their equivalent chained form. The control is designed based on Lyapunov's direct method and the backstepping technique. The outstanding feature of the proposed controller is computationally simple due to its full use of the existing results on stabilization and tracking...
This paper deals with the problem of trajectory tracking of a class of power converters. To analyze the stability of these systems we consider the bilinear structure they admit. First, we propose the theoretical framework for which it is possible to ensure global tracking of trajectories. To do so, a construction of an output signal respect to which the incremental model becomes passive is carried...
In this paper we develop an approach for the control of evolution of a multi agent system (MAS) based on a new local inter-agent communication protocol. The agents of the MAS occupy a compact region, have n-D dynamics, and are guided by n+ 1 special leader agents that can move independently. The rest of the agents, called followers, have the ability to update their positions via local communication...
This paper concerns the problem of minimizing the sum of motion energy and communication energy in a network of mobile robots. The robotic network is charged with the task of transmitting sensor information from a given object to a remote station, and it has to arrange itself in a serial (tandem) configuration for point-to-point transmission, where each robot acts as a relay node. The problem is formulated...
A Steepest Ascent numerical procedure for offline trajectory optimization of a surface-to-surface missile attacking a stationary target is presented. A detailed numerical solution, starting from building the mathematical formulation till generating an offline angle of attack control history is illustrated. The formulation entails nonlinear 2-dimensional missile flight dynamics with mixed boundary...
This paper first completes Spiral Optimization (SPO), which is a new metaheuristics method proposed by the authors based on analogy of spiral phenomena in nature, by refining our previous studies and adding some new matters. Secondary, we point out that the SPO model has a dynamic equilibrium point and strictly analyze its asymptotic stability and ε-stability. In addition, the stability analysis results...
In this article we propose a shooting algorithm for optimal control problems governed by systems that are affine in one part of the control variable. Finitely many equality constraints on the initial and final state are considered. We recall a second order sufficient condition for weak optimality, and show that it guarantees the local quadratic convergence of the algorithm. We show an example and...
We study the problem of proving incremental stability of a planar Filippov system. In particular, referring to systems that present an attractive sliding region on their discontinuity boundary, we will give a differential condition on such region able to guarantee incremental exponential stability of sliding mode trajectories. We will then derive conditions for the incremental stability of the whole...
In this paper, we have studied the control problem of path following for car type vehicles. The target-point based path following problem has been transformed into a reference trajectory following problem, using bounded feedback control laws. The contribution of this work lies in the global asymptotic stability, without restrictions on initial conditions. The proof of global stability has been presented...
A flatness-based design systematics is presented to realize desired velocity profiles for the Stokes equations in a 2D domain and spatially distributed interior control. The approach combines early and late lumping techniques and utilizes the spectral properties of the system operator. Re-summation techniques are integrated to enhance the domain of applicability as is illustrated in a simulation scenario.
We consider a class of pure-state preparation problems for stochastic quantum dynamics, by means of Hamiltonian control, continuous measurement and quantum feedback, in the presence of a Markovian environment. We prove that, whenever suitable dissipative effects are induced either by the unmonitored environment or by continuous-time measurements, open-loop time-invariant control is in principle sufficient...
A norm optimal iterative learning control (NOILC) is proposed and applied in train trajectory tracking problem, and it then is extended to the cases with traction/braking constraint. Rigorous theoretical analysis has shown that the proposed approach can guarantee the asymptotic convergence of train speed and position to desired profiles as iteration number goes infinity. Simulation results further...
This paper proposes a discontinuous-impulsive output feedback which is a sampled based second order sliding mode controller. First, constructive convergence conditions are established for the controller, in the unperturbed and perturbed case. An adaptation mechanism is based on the aforementioned convergence conditions and allows to reduce gain magnitude.
In this paper, for a class of non-linearly parameterized systems with time-varying parameters, an adaptive iterative learning control method based on initial state learning is proposed. by using the parameter separation and the initial state learning, a novel adaptive control strategy is designed to ensure the tracking error converge to zero in the mean-square sense on a finite time-interval. a sufficient...
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