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This paper proposes a multi-objective controller synthesis strategy for the design of distributed formation control schemes for multi-agent systems. The agents are modeled as identical linear discrete-time invariant systems. The proposed synthesis method is based on a recent analysis result that poses a constraint on a closed-loop ℓ1 norm to guarantee robust stability of a formation under arbitrary...
In this paper, we identify sufficient conditions for Lyapunov Mean Square Stability (LMSS) of a contention-based network of first-order systems, with state-based schedulers. The stability analysis helps us to choose policies for adapting the scheduler threshold to the delay from the network and scheduler. We show that three scheduling laws can result in LMSS: constant-probability laws and additively...
For networked systems, the control law is typically subject to network flaws such as delays and packet dropouts. Hence, the time in between updates of the control law varies unexpectedly. Here, we present a stability theorem for nonlinear model predictive control with varying control horizon in a continuous time setting without stabilizing terminal constraints or costs. It turns out that stability...
We consider the synchronization problem of networked Euler-Lagrange systems with unknown parameters. The information flow in the network is represented by a directed communication graph and is subject to unknown and possibly discontinuous time-varying communication delays with unknown upper bounds. We propose a control scheme that achieves position synchronization, i.e., all the positions of the systems...
We consider a large class of fractional delay systems with many neutral chains of poles approaching a same set of points on the imaginary axis. As a primary work regarding H∞-stability analysis, high modulus poles of neutral chains are approximated.
The problem of reachable set bounding for a class of linear systems subject to both discrete and distributed delays is addressed in this paper. First, a new criterion is derived to give an ellipsoid which bounds all the states starting from the origin by inputs with peak-values. The constraint with a special structure that appeared in our previous result is removed by combining the Jensen integral...
Extremum-seeking control is a powerful adaptive technique to optimize steady-state system performance. To this date, extremum-seeking control has mainly been used to optimize plants with constant steady-state outputs, whereas the case in which the steady-state outputs are time varying, has received less attention. We propose an extremum-seeking scheme for the optimization of nonlinear plants with...
Handling delays and uncertain parameters in control systems is difficult and of long-standing interest. In this paper, we consider the problem of stabilizing any single-input single-output (SISO) linear time invariant (LTI) controllable/observable plant with an arbitrarily large uncertain gain and time delay; to do so, we propose a non-linear time varying (NLTV) controller. Despite being NLTV, the...
This paper establishes a sufficient condition for the stability of a structured class of feedback systems. Specifically, interconnections of constantly-proper Callier-Desoer distributed-parameter transfer functions, via bandwidth-limited feedback channels with time-varying delay. The point-wise in frequency stability condition is obtained by applying a recent robustness result that involves integral-quadratic-constraints...
This paper considers a continuous control design for second-order control affine nonlinear systems with time-varying state delays. A neural network is augmented with a robust integral of the sign of the error (RISE) control structure to achieve semi-global asymptotic tracking in the presence of unknown, arbitrarily large, time-varying delays, not linear-in-the-parameters uncertainty and additive bounded...
In this paper, we address the problem of controlling a system over an unreliable UDP-like network that is affected by time-varying delays and randomly occurring packet losses. A major challenge of this setup is that the controller just has uncertain information about the control inputs actually applied by the actuator. The key idea of this work is to model the uncertain control inputs by random variables,...
The input-to-state stability (ISS) property is combined with model predictive control (MPC) of systems with time-delays and disturbances. We derive conditions such that an MPC scheme assures ISS for a single system and each subsystem of a network. To this end, it is shown that the cost functionals of the used MPC scheme are ISS-Lyapunov-Krasovskii functionals. Recent results of the stability analysis...
For continuous-time linear time-invariant systems with an arbitrarily large constant pointwise delay in the inputs, we propose a new construction of exponentially stabilizing sampled control laws. Stability is achieved under an assumption on the size of the largest sampling interval. The proposed design is based on an adaptation of the two main results of the reduction model approach. The stability...
In this paper, a filter design scheme is proposed for Lipschitz nonlinear systems with delays. It is assumed that the measurements are transmitted through a communication network and therefore reach the filter with an uncertain delay. The design methodology is formulated as an optimization problem with LMI constraints, which are derived using a less conservative Lyapunov-Krasovskii function and establish...
In this study, online identification of state delays is discussed. First, a novel adaptive time delay identification technique is proposed for general classes of autonomous nonlinear systems subject to state delays. As an extension, this technique is modified to design a tracking controller for general classes of nonlinear systems subject to state delays. The main novelty of this controller is that...
In this work we present a state-dependent sampling control that allows for enlarging the sampling intervals of state-feedback control. We consider the case of perturbed linear time-invariant systems with input-delay and guarantee their ℒ2-stability. The approach is based on a novel class of switched Lyapunov-Krasovskii functionals with state-dependent matrices. It results in an LMI problem that allows...
In this paper, we address the problem of sampled-data control design for continuous-time linear parameter varying (LPV) systems. The state-feedback control design method we develop in this paper relies on the information from the sampled states. Due to the combination of the system continuous-time dynamics and the controller discrete-time dynamics connected through A/D and D/A converter devices, the...
We analyze a classification of two main families of controllers that are of interest when the feedback loop is subject to switching propagation delays due to routing via a wireless multi-hop communication network. We show that we can cast this problem as a subclass of classical switching systems, which is a non-trivial generalization of classical LTI systems with time-varying delays. We consider both...
An earlier investigation on leader-follower consensus protocols for double integrators with multiple time delays [1] is revisited in this paper from two completely different and novel perspectives. First, the crucial stability analysis of time delayed system is replaced with a recent technique called the Cluster Treatment of Characteristic Roots (CTCR). CTCR paradigm is pursued after a block-diagonalization...
In this paper we derive sufficient conditions for passivity of neutral type time delay systems (TDS) with time varying parametric uncertainties. The delays in states and state derivatives are assumed to be time varying. Delay dependent sufficient conditions for robust passivity, are derived in terms of Linear Matrix Inequalities (LMIs). Feedback control law is formulated for robust passification of...
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