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Exact feedback linearization is a well-established method in nonlinear control, where the system is transformed into a linear system by a nonlinear change of coordinates in connection with a nonlinear feedback law. For a controllable single-input system, exact linearizability is equivalent to flatness. Unfortunately, the existence conditions are quite restrictive. Even if the existence conditions...
It is known that for single-input neutrally stable planar systems, there exists a class of saturated globally stabilizing linear state feedback control laws. The goal of this paper is to characterize the dynamic behavior for such a system under arbitrary locally stabilizing linear state feedback control laws. On the one hand, for the continuous-time case, we show that all locally stabilizing linear...
This paper proposes a Model Predictive Control (MPC) framework combined with a self-triggering mechanism for constrained uncertain systems. Under the proposed scheme, the control input as well as the next control update time are provided at each triggering instant. Between two consecutive triggering instants, the control trajectory given by the MPC is applied to the plant in an open-loop fashion....
It is well known that a large terminal set leads to a large region where the MPC problem is feasible without the need for a long prediction horizon. This paper proposes a new method for the enlargement of the terminal set. Contrary to existing approaches, the method uses the convex hull of a trajectory as the basis for the construction. This trajectory may be any feasible trajectory of the system...
Circular path following control of sampled-data underactuated ships is considered by both state and output feedback controllers. State feedback controllers are obtained by a line-of-sight guidance algorithm and the Euler approximate model of a tracking error dynamics. Then the output feedback controllers that achieve circular path following control are obtained by combining the designed state feedback...
We address the output synchronization problem for groups of linear parameter-varying (LPV) agents. The agents are assumed to have identical LPV structure depending on different local parameters which make the group heterogeneous. First, we show that homogeneous groups of LPV systems with static diffusive couplings synchronize over uniformly connected graphs. Then, based thereon, we propose a constructive...
In this paper, we study the robustness property of a second-order linear plant controlled by a proportional, integral and derivative (PID) controller with a hysteretic actuator. The hysteretic actuator is modeled by a Duhem model that exhibits clockwise (CW) input-output (I/O) dynamics (such as the Dahl model, LuGre model and Maxwell-Slip model, which describe hysteresis phenomena in mechanical friction)...
In this paper, tuning rules are established when a second order sliding mode controller is utilized to achieve finite time tracking for a class of unilaterally constrained planar systems in the presence of external disturbances in continuous and discrete-event phases. Rigid body inelastic impacts are incorporated at the unstable equilibrium. A numerical chattering-free digital implementation is also...
This paper analyzes the stability of input and output quantized discrete-time linear control systems considering static finite-level logarithmic quantizers. The sector bound approach together with a relaxed stability notion are applied to derive LMI based conditions for estimating a set of initial conditions and its attractor assuming that the controller and quantizers are known a priori. These conditions...
In this paper, an enhanced event-based scheme for model predictive control (MPC) of constrained discrete-time systems with additive disturbances is investigated. The re/calculation of the MPC control law is triggered whenever an event depending on the error of the measured state with respect to the nominal state of the system occurs. Between the controller updates, the last computed control trajectory...
This paper considers the problem of designing C1 (continuously differentiable) state feedback stabilizers for a class of 3-dimensional nonlinear systems whose linearizations around the origin may contain uncontrollable modes. Based on a new definition of homogeneity with monotone degrees, we not only propose conditions of constructing C1 and C221E; (smooth) controllers, but also provide explicit design...
The paper studies the reach control problem (RCP) to make an affine system defined on a polytopic state space reach and exit a prescribed facet of the polytope in finite time without first leaving the polytope. We introduce the notion of generalized flow conditions, which give a necessary and sufficient condition for closed-loop trajectories to exit the polytope. In analogy with Lyapunov stability...
This paper shows that a certain class of time-dependent, autonomous switched systems can also be studied using the structural concepts and properties of the linear time-invariant implicit systems theory. We first consider the modeling aspects, and then, the control aspects are tackled. This fact contributes to the enrichment of the switched systems theory and enlarges its action field. In Section...
We solve a family of uniform global asymptotic stabilization problems for time varying feedforward systems with a delayed input. Our solution relies on a time-varying change of coordinates and Lyapunov-Krasovskii functionals. It applies under any given constant delay, and provides controllers of arbitrarily small amplitude. We also prove input-to-state stability with respect to additive disturbances...
The dynamics of a spacecraft equipped with magnetic actuators operating under a static attitude and rate feedback control law designed using averaging theory is considered and the asymptotic behaviour of the closed-loop system as a function of the averaging scaling parameter is analysed, using bifurcation methods.
Many Embedded Systems are indeed Software Based Control Systems, that is control systems whose controller consists of control software running on a microcontroller device. This motivates investigation on Formal Model Based Design approaches for automatic synthesis of embedded systems control software. This paper addresses control software synthesis for discrete time nonlinear hybrid systems. We present...
This paper reviews the derivation of a model reference adaptive control (MRAC) scheme for bimodal piecewise-affine (PWA) continuous systems [9]. The algorithm is based on an extension of the minimal control synthesis algorithm, originally developed as an MRAC for smooth systems. The resulting adaptive algorithm is a switched feedback controller able to cope with uncertain continuous PWA systems. The...
This paper addresses a surveillance problem in which the goal is to achieve a circular motion around a target by a non-holonomic agent. The agent only knows its own position with respect to its initial frame, and the bearing angle of the target in that frame. It is assumed that the position of the target is unknown. An estimator and a controller are proposed to estimate the position of the target...
A decoupled piezo-driven compliant mechanism has been designed and manufactured to track 2-DOF trajectories. Although it features decoupled characteristics, the small cross axis coupling can result in poor tracking performance in 2-DOF trajectories. For such structures, the damping ratio is so small that the modal vibrations are likely to be excited, which greatly degrade its positioning accuracy...
A dynamic error-feedback controller is presented for the synchronized output regulation of heterogenous linear networked systems, where only the leader node has the information of the regulated errors while the remaining follower nodes have the information of the relative output errors with respect to their in-neighboring nodes. By using the small-gain theorem, the sufficient criterion is developed...
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