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In this paper, a novel consensus algorithm is presented to handle with the leader-following consensus problem for lower-triangular nonlinear MASs (multi-agent systems) with unknown controller and measurement sensitivities under a given undirected topology. As distinguished from the existing results, the proposed consensus algorithm can tolerate to a relative wide range of controller and measurement sensitivities. We present some important matrix inequalities, especially a class of matrix inequalities...
In the paper an adaptive linear control system structure with modal controllers for a MIMO nonlinear dynamic process is presented and various methods for synthesis of those controllers are analyzed. The problems under study are exemplified by the synthesis of a position and yaw angle control system for a drillship described by a 3DOF nonlinear mathematical model of low-frequency motions made by the drillship over the drilling point. In the proposed control system, use is made of a set of (stable)...
The problem addressed in this paper is the linearization of nonlinear systems by generalized input-output (I/O) injection. The I/O injection (called completely generalized I/O injection) depends on a finite number of time derivatives of input and output functions. The practical goal is the observer synthesis with linear error dynamics. The method is based on the I/O differential equation structure. Thus, the problem is solved as a realization one. A necessary and sufficient condition is proposed...
This paper considers the problem of output control of nonlinear delay systems by means of state delayed feedback. In previous papers, through the use of a suitable formalism, standard output control problems, such as output regulation, trajectory tracking, disturbance decoupling and model matching, have been solved for a class of nonlinear delay systems. However, in general an output control scheme does not guarantee internal stability of the system. Some results on this issue are presented in this...
We give a necessary and sufficient condition for local controllability around closed orbits for general smooth control systems. We also prove that any such system on a compact manifold has a closed orbit.
In this paper we deal with the local exact controllability of the
Navier-Stokes system with nonlinear Navier-slip boundary
conditions and distributed controls supported in small sets. In a
first step, we prove a Carleman inequality for the linearized
Navier-Stokes system, which leads to null controllability of this
system at any time T>0. Then, fixed point arguments lead to the
deduction of a local result concerning the exact controllability
to the trajectories of the Navier-Stokes system.
In the present paper, we study the problem of small-time local attainability (STLA) of a closed set. For doing this, we introduce a new concept of variations of the reachable set well adapted to a given closed set and prove a new attainability result for a general dynamical system. This provide our main result for nonlinear control systems. Some applications to linear and polynomial systems are discussed and STLA necessary and sufficient conditions are obtained when the considered set is a hyperplane....
In the present paper, we study the problem of small-time
local attainability (STLA) of a closed set.
For doing this, we introduce a new concept of variations of the
reachable set well adapted to a given closed set and prove a new
attainability result
for a general dynamical system. This provide our main result for nonlinear
control systems. Some applications to linear and polynomial systems are
discussed and STLA necessary and sufficient conditions are obtained
when the considered set...
The notion of locally positive nonlinear time-varying linear systems is introduced. Necessary and sufficient conditions for the local positiveness of nonlinear time-varying systems are established. The concept of local reachability in the direction of a cone is introduced, and sufficient conditions for local reachability in the direction of a cone of this class of nonlinear systems are presented.
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