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Analog/Mixed-Signal validation at the system level is becoming increasingly important as more electrical bugs are caused by the interaction among various circuit blocks. While hand-crafted behavioral models and linear models are still most widely used among designers, there is an increasing need for automatic behavioral modeling tools which capture low-level nonlinear behaviors in the circuit. This...
Sliding mode control is studied and inspected with the Leader-Follower finite-time formation control of multi-agent networks with input disturbances and problem formulations are verified in Matlab simulation. Twisted sliding mode control system is used to design the distributed control law. A new twisted sliding mode surface is put forward for consideration to guarantee finite-time consensus under...
In this paper a generic framework for sampling-based partial motion planning along a reference path is presented. The sampling mechanism builds on the specification of a vehicle model and a control law, both of which are freely selectable. Via a closed-loop forward simulation, the vehicle model is regulated onto a carefully chosen set of terminal states aligned with the reference path, generating...
Humanoid service robots performing complex object manipulation tasks need to plan whole-body motions that satisfy a variety of constraints: The robot must keep its balance, self-collisions and collisions with obstacles in the environment must be avoided and, if applicable, the trajectory of the end-effector must follow the constrained motion of a manipulated object in Cartesian space. These constraints...
The controlling unstable equilibrium point (CUEP) method is a reliable direct method for stability analysis of electrical power systems. In this paper, the foundations of the CUEP method, initially developed for network-reduced power system models, are extended to network-preserving power system models, which are represented by a set of differential-algebraic equations (DAEs). This extension explores...
Nine-switch converter, which can provide two sets of three-phase outputs with independent amplitudes, phases and frequencies, has been proposed to replace two independent three-phase converters for cost- and size-reduced purposes. This paper proposes a hysteresis-modulation (HM) sliding-mode (SM) pulsewidth modulation (PWM) for the nine-switch converter. With the proposed HM-SMPWM, the phase currents...
In this paper, an adaptive integral sliding mode is proposed. The main interest of gain adaptation is the reduction of the chattering and the possibility to control uncertain nonlinear systems whose the uncertainties have unknown bounds. The proposed control approach consists in using dynamically adapted control gain that ensure the establishment, in a finite time, of a real high order sliding mode...
Autonomous intelligent vehicles are under intensive development, especially this last decade. The autonomous navigation consists on developing three main key steps: 1. environment perception, 2. path planning and decision, and 3. vehicle control. This paper focus on the lateral control of intelligent vehicles ; it presents design and experimental validation of a vehicle lateral controller based on...
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...
This paper explores the possibilities of the socalled Integral Higher-Order Sliding-Mode (IHOSM) control framework to solve singular optimal stabilization (SOS) problems of arbitrary order for uncertain systems. We connect the order of singularity of SOS with the co-dimension of the set of singular optimal manifold. IHOSM is designed allowing to reach singular optimal manifold in prescribing time...
We consider a linear-quadratic deterministic optimal control problem where the control takes values in a two-dimensional simplex. The phase portrait of the optimal synthesis contains second-order singular extremals and exhibits modes of infinite accumulations of switchings in finite time, so-called chattering. We prove the presence of an entirely new phenomenon, namely a chaotic behaviour of the set...
This paper presents a new approach to distributed nonlinear formation control, inspired by recent results on properties of cyclic topologies. Tools from contraction theory are used in the analysis of nonlinear control laws that only employ local information to globally converge to a formation. Specifically, a generalization of the cyclic pursuit extended to develop properties not addressed before...
In this paper we consider the minimum time population transfer problem for a two level quantum system driven by two external fields with bounded amplitude. After projection on the so-called Bloch sphere, we tackle the problem with well-developed techniques of optimal synthesis on 2-D manifolds. Based on the Pontryagin Maximum Principle, we characterize a restricted set of candidate optimal trajectories...
Many different numerical methods have been developed to compute trajectories of optimal control problems on the one hand and to approximate Pareto sets of multiobjective optimization problems on the other hand. However, so far only few approaches exist for the numerical treatment of the combination of both problems leading to multiobjective optimal control problems. In this contribution we combine...
The so-called “general two-trailers system” is a nonholonomic system composed of a controlled unicycle-like vehicle and two passive trailers with off-axle hitching. It is not differentially flat and cannot be transformed into the chained form system. Methods developed for this latter class of systems thus do not apply. The Transverse Function (TF) approach is here used to solve the trajectory tracking...
The present publication is focussed on the application of the immersion and invariance (I&I) control methodology on a pneumatic actuator. The utilization of I&I for tracking control is investigated and a tracking theorem is explicitly provided and proved. Based on this theorem, a tracking controller for the nonlinear system is designed. Furthermore, in order to deal with unknown parameters,...
In control systems design, the problem of managing dynamical systems affected by uncertainties that are different in different region of the state space, or with closed-loop specification that should be adjusted to the current operating condition must be often faced. To adapt the controller performance to these spatially-varying phenomena, switched solutions proved to be effective and more easily...
Instances of control systems are presented for which dynamical feedback linearizability can be assessed from differential forms of highest relative degree after some “contact” transformation has been applied. This bypasses the need to find a polynomial differential operator that leads to an integrable co-distribution.
In this note we extend the design of uniform sliding mode controllers for a class of arbitrary order uncertain systems with a single control input. The design is based on the Classical Sliding Mode Control. But, instead of using classical Lipschitz sliding surfaces and relay controllers, we propose a nonlinear sliding surface and two controllers that contain some high degree terms. It allows to enforce...
Many tool use tasks exhibit symmetries, such as the fact that a carrot can be cut anywhere along the blade of a knife, or that a nail can be struck from many directions by a hammer. This paper uses a previously proposed concept of affordance symmetries and extends it to enable such freedoms to be captured for robot programming by demonstration (RPbD). A reproduction planner is proposed which leverages...
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