The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
For stability analysis of discrete-time arbitrary switching positive linear systems, we introduce a new class of switched copositive Lyapunov functions (abbreviated as CLFs) and we investigate their test power. The new class means “switched max-type CLFs” and it is defined by generalizing the “mode-independent max-type CLFs” (that were introduced and characterized by our previous works). This generalization...
The stabilization with a General Dissipativity Constraint (GDC) has been governed by the non-negativeness of ΔV(x, k) along the trajectories (i.e. ΔV(x, k) 0), in which ΔV(x, k) 0 is a storage function. We have stated and proved the state convergence with the GDC a previous work, but the stability has not been addressed thoroughly. In this paper, we analyze the stability that is obtained from...
For two-qubit systems with a degenerate measurement operator, this paper presents a control approach to achieve rapid stabilization to a target Bell state. This approach uses two control channels where the control laws associated with these two channels are designed as a constant and a switching control law, respectively. In the control scheme, the system state space is divided into two parts: the...
Adaptive iterative learning control is a popular approach to control parametric time-varying systems over finite time interval. However, initial resetting condition limits the application of a large amount of learning control algorithms. In this paper, we propose a suboptimal iterative learning control for a class of dynamic parametric systems to solve this problem. An error-tracking control strategy...
The paper is concerned with asynchronous control for fuzzy switched systems with actuator saturations. Based on controller-mode-dependent piecewise Lyapunov function, the asynchronous controllers are designed to ensure the exponential stability. The asynchronous controllers mean that the switching of the controllers has a lag with that of subsystem. Moreover, the corresponding switching laws with...
The paper considers a group of systems (agents), each of which described by a model consisting from a linear part and a static nonlinearity, satisfying special quadratic constraints, connected by a feedback. All systems operate in the repetitive mode with a constant pass length, and with resetting to the initial state after each pass is complete. Data connections among the systems are defined by a...
A method of stability analysis of nonlinear systems using Lyapunov densities has been proposed by Rantzer: almost all trajectories of the system are guaranteed to converge to the equilibrium point if a Lyapunov density exists for the nonlinear system. However, only the convergence of trajectories is considered in the Rantzer's original result and the speed of convergence has never been taken care...
Reduction of contour error and saving energy are major essential requirements in computer numerical control (CNC) machines. This paper introduces a novel adaptive sliding contouring control using a nonlinear sliding surface to achieve higher machining accuracy without any increase of consumed energy. The main objective of this approach is that control gains are automatically adapted based on the contouring...
This paper introduces the planning algorithm Sa-feRRT, which extends the rapidly-exploring random tree (RRT) algorithm by using feedback control and positively invariant sets to guarantee collision-free closed-loop path tracking. The SafeRRT algorithm steers the output of a system from a feasible initial value to a desired goal, while satisfying input constraints and non-convex output constraints...
For low hitting precision, bad robustness and high normal acceleration of traditional torpedo guidance law, the paper designed anti-torpedo torpedo(ATT) guidance law based on variable structure control. State equation of line of sight angle between ATT and target can be achieved from mathematical model of moving relation between ATT and target torpedo, and designed a variable structure controller...
In quantum state transfer and tracking, control of quantum states are effective against decoherence caused by external environment and information processing. In this paper, utilizing model reference adaptive control theory and Lyapunov stability theorem, we derive the adaptive law for the model reference adaptive system. Then we design the Lyapunov control law by double control functions and we investigate...
Metzler matrices are algebraically characterized by having nonnegative off-diagonal entries and, from the dynamical point of view, define continuous-time positive systems. Our work studies polytopes of Metzler matrices and linear dynamics generated by such sets. The first part of the paper explores the algebraic properties of matrix polytopes, by focusing on the estimation of a right outer bound for...
This paper investigates the problem of attitude stabilization for a rigid body subject to external disturbance with unknown bound. A fixed-time based finite time controller is proposed to guarantee that the closed-loop system gets stable in fixed time, which means the bound of the settling time is independent of the initial conditions. Moreover, the adaptive method is adopted to deal with the external...
This paper addresses robust leader-follower formation control problem with prescribed performance and collision avoidance for a group of fully actuated unmanned surface vehicles (USVs). The dynamic surface control (DSC) technique is employed to introduce a first-order low-pass filter in the kinematic design such that the utilization on the leader vehicle's acceleration is avoided in the kinetics control...
In this paper, we present a novel notion of input-to-state safety (ISSf) for general nonlinear systems which can be useful for certifying system's safety under the influence of external bounded input (or disturbance) signals. We provide sufficient conditions for ISSf using barrier function/certificate which are analogous to the input-to-state stability Lyapunov function.
This paper studies cooperative global output regulation of a class of heterogeneous second-order nonlinear multi-agent systems. The agents states stand for positions and velocities and their dynamics can be heterogeneous and nonlinear, containing unknown parametric uncertainties. In particular, we show solvability of the problem in the situation of unknown exosystems or leaders. Based on a nonlinear...
This paper is concerned with the tracking control problem for continuous-time Takagi-Sugeno (T-S) fuzzy systems. Attention is focused on the design of a tracking controller attenuating the tracking error as small as possible in the H∞ performance sense. Conditions for designing tracking controller are established based on a novel nonquadratic Lyapunov function whose integral structure allows circumventing...
This paper investigates the problem of stabilization for switched affine neural networks with a sampled-data switching rule. the sampling interval may be variable and uncertain. The switching law is considered as a function of the system state at sampling instants. The single and multiple Lyapunov function methods are employed to design the switching rule respectively. Sufficient conditions are given...
The problem of the design of a controller for a multi-vectored propeller airship is addressed. The controller includes anti-windup that takes into account unsymmetrical actuator constraints. Two controller design methods were applied: one-step and two-step anti-windup controller design (AWC). The one-step method obtains the controller and the anti-windup compensator in one step while the two-step...
This paper discusses the learning of robot point-to-point motions via non-linear dynamical systems and Gaussian Mixture Regression (GMR). The novelty of the proposed approach consists in guaranteeing the stability of a learned dynamical system via Contraction theory. A contraction analysis is performed to derive sufficient conditions for the global stability of a dynamical system represented by GMR...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.