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This work proposes a control algorithm to stabilize a circular formation of AUVs tracking a time-varying center. We also consider the problem of uniform distribution of all the agents along the circle from two approaches: all-to-all and limited communication. We tackle with this communication constraint using a cooperative control strategy which includes the Laplacian matrix of the communication graph...
In this paper, a robust MIMO output control law for Permanent Magnet Synchronous Machines (PMSM) is considered. The nonlinear model of the motor is presented, and a control strategy is proposed, based on high order sliding manifold dynamic output control concepts. A rigorous proof of the stability is presented, based on nonlinear Lyapunov theory and fuzzy mathematics tools (although the controller...
A new type of global stability is introduced and its equivalent Lyapunov characterization is presented. The problem of global stability of the compact set composed by all invariant solutions of a nonlinear system (several equilibriums, for instance) is analyzed. Consideration of such set allows us to present global stability properties for multi-stable systems.
In this paper we present the integration of a linear-time-varying model-predictive-control (LTV-MPC), designed to stabilize a vehicle during sudden lane change or excessive speed-entry in curve, with a slip controller that converts the desired longitudinal tire force variation in pressure variation in the brake system. The lateral controller is designed using a three-degrees-of-freedom vehicle model...
The underwater vehicle is six degrees of freedom model. The execution of spatial maneuvers are determined mainly by the dynamic properties of underwater vehicle particularly controllability and stability. The control surfaces are situated at the rear end of the underwater vehicle which moves either vertically or horizontally (Pitch, Yaw, Roll, Pitch-rate,Yaw-rate etc.) used to steer the vehicle to...
We characterize the stability and achievable performance of networked estimation under correlated packet losses described by the Gilbert-Elliot model. For scalar continuous-time linear systems, we derive closed-form expressions for the mean-square distortion of the optimal estimator. The conditions for stable mean square estimation error are equivalent to those obtained previously for stability of...
In this paper, we present some new results on frequency weighted balanced truncation which is a significant improvement on Lin and Chiu's frequency weighted balanced truncation technique. The reduced order models which are guaranteed to be stable in case of double-sided weighting, are obtained by direct truncation. Two sets of simple, elegant and easily calculatable a priori error bounds are also...
In this paper, we extend the interconnection and damping assignment passivity-based control strategy to systems subjected to nonholonomic Pfaffian constraints. The results are applied to stabilize the pitch dynamics of an underactuated mobile inverted pendulum (MIP) robot subjected to nonholonomic constraints arising out of no-slip conditions. A novel feature of this paper is that we reduce the kinetic...
This paper studies the global regulation problem for a class of nonlinear polynomial systems subject to both dynamic uncertainty and static uncertainty. The dynamic uncertainty does not vanish at the origin of the state space and thus is not input-to-state stable (ISS). As a result, the small gain theory based robust control technique alone cannot handle this problem. We manage to integrate both robust...
Continuous measurement and feedback hold tremendous potential for producing non-Gaussian quantum states that are useful for quantum communication and computation. We present a new feedback scheme to deterministically produce quantum non-Gaussian states from linear optical elements and feedback. In our scheme, measurement outcomes are used in two different ways. One implements a multiplicative feedback...
The paper studies how nonlinear PCH Hamiltonian systems are transformed under sampling. We show that Hamiltonian conservation can be preserved under sampling with respect to a modified output mapping. The impact of this result for computing sampled-data stabilizing controllers is illustrated on the basis of an example.
We propose an underactuated mechanical system named inverted pendulum on a cart beam system. The proposed system has three degrees-of-freedom and one control input. The mathematical model is derived using Lagrangian method and the stabilization is achieved with constraints using a linear controller designed based on linear matrix inequality approach. Simulation results are presented to validate the...
This paper is concerned with the theory of quasivelocities and its applications to control. The equations of motion of a mechanical system are derived using the Lagrange-d'Alembert principle written in an arbitrary configuration-dependent frame. The structure of the equations of motion written in quasivelocities is utilized in the design of a nonlinear feedback stabilizing controller for an example...
This paper describes a two-sweep control design method to stabilize the acrobot, an input-affine under-actuated system, at the upper equilibrium point. In the forward sweep, the system is successively reduced, one dimension at a time, until a two-dimensional system is obtained. At each step of the reduction process, a quotient is taken along one-dimensional integral manifolds of the input vector field...
In our recent work, an efficient nonlinear system identification approach using wavelet based State Dependent Parameter (WSDP) models has been proposed and investigated. This model has some unique properties which are very useful for the investigation of its bounded characteristics. This paper presents results on the bounded characteristics of WSDP models. These results reveal the clear relationship...
Bi- or even multistable behavior is a recurrent phenomenon in gene regulation networks. These networks have the capacity to operate in two or more distinct modes in a stable manner. In this work, we consider gene regulation networks with known interaction structure but unknown reaction kinetics. Additionally, it is assumed that several distinct operation modes were observed experimentally whereby...
In this paper we present an application of a recently developed strategy for robust distributed controller design for formations and show a way of including performance requirements in the design. The proposed synthesis method guarantees stability for all possible formations and arbitrary fast changes in the communication topology. The number of agents in the formation can also be chosen arbitrarily...
In this paper we establish a general swarm model with time delays under disturbances for the quadratic attractant/repellant profiles. It is proved that the swarm members will converge and form a cohesive cluster around the center in a finite time under certain conditions in the presence of communication delays and disturbances. For quadratic attractant/repellant profiles, all the swarm members will...
Marine ecosystems are complex nonlinear systems, and there biological variables have low-dimensional nonlinear chaos characteristics. Under certain conditions, marine planktonic ecosystem can have different nonlinear dynamic properties, such as point attractor, periodic attractor as well as chaotic attractor. In this paper, a phytoplankton-fish (herbivorous) model was constructed. With the fishing...
This paper describes an integrated controller for handling the problem on rudder roll stabilization (RRS) of ship model uncertainty and hard nonlinearities about input rate and magnitude saturations. According to the state space model of ship, a generalized predictive controller (GPC) is deduced. The controller is adjusted by fuzzy gain scheduler (FGS), which is optimized with genetic algorithms (GA)...
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