Time-optimal control of nonlinear parabolic systems with constrained derivative of control, existence theorem
Time-optimal control of plants whose transfer functions contain zeros
Topologies, continuity and bisimulations
Topologies, Continuity and Bisimulations
The notion of a bisimulation relation is of basic importance in many areas of computation theory and logic. Of late, it has come to take a particular significance in work on the formal analysis and verification of hybrid control systems, where system properties are expressible by formulas of the modal μ-calculus or weaker temporal logics. Our purpose here is to give an analysis of the concept of bisimulation, starting with the observation that the zig-zag conditions are suggestive of some...
Topology design for group consensus in directed multi-agent systems
In this paper, we investigate the grouping behavior of multi-agent systems by exploiting the graph structure. We propose a novel algorithm for designing a network from scratch which yields the desired grouping in a network of agents utilizing a consensus-based algorithm. The proposed algorithm is shown to be optimal in the sense that it consists of the minimum number of links. Furthermore, we examine the effect of adding new vertices and edges to the network on the number of groups formed in the...
Toward a notion of canonical form for nonlinear systems
Towards a framework for continuous and discrete multidimensional systems
Continuous multidimensional systems described by partial differential equations can be represented by discrete systems in a number of ways. However, the relations between the various forms of continuous, semi-continuous, and discrete multidimensional systems do not fit into an established framework like in the case of one-dimensional systems. This paper contributes to the development of such a framework in the case of multidimensional systems. First, different forms of partial differential equations...
Towards robustness in neural network based fault diagnosis
Challenging design problems arise regularly in modern fault diagnosis systems. Unfortunately, classical analytical techniques often cannot provide acceptable solutions to such difficult tasks. This explains why soft computing techniques such as neural networks become more and more popular in industrial applications of fault diagnosis. Taking into account the two crucial aspects, i.e., the nonlinear behaviour of the system being diagnosed as well as the robustness of a fault diagnosis scheme with...
Tracking an omnidirectional evader with a differential drive robot at a bounded variable distance
Tracking and disturbance rejection in a nonlinear control system with time delay
Tracking control algorithms for a laboratory aerodynamical system
The tracking control problem of a strongly nonlinear MIMO system is presented. The system shares some features with a helicopter, such as important interactions between the vertical and horizontal motions. The dedicated IO board allows for control, measurements and communication with a PC. The RTWT toolbox in the MATLAB environment is used to perform real-time experiments. The control task is to track a predefined reference trajectory. A mathematical model of the system, containing experimental...
Tracking control design for nonlinear polynomial systems via augmented error system approach and block pulse functions technique
In this paper, tracking control design for a class of nonlinear polynomial systems is investigated by augmented error system approach and block pulse functions technique. The proposed method is based on the projection of the close loop augmented system and the associated linear reference model that it should follow over a basis of block pulse functions. The main advantage of using this tool is that it allows to transform the analytical differential calculus into an algebraic one relatively easy...
Tracking control of a flexible beam by nonlinear boundary feedback.
Tracking problem for linear periodic, discrete-time stochastic systems in Hilbert spaces.
Tracking through singularities using sliding mode differentiators
In this work, an alternative solution to the tracking problem for a SISO nonlinear dynamical system exhibiting points of singularity is given. An inversion-based controller is synthesized using the Fliess generalized observability canonical form associated to the system. This form depends on the input and its derivatives. For this purpose, a robust exact differentiator is used for estimating the control derivatives signals with the aim of defining a control law depending on such control derivative...
Tracking with prescribed transient behaviour
Universal tracking control is investigated in the context of a class of -input, -output dynamical systems modelled by functional differential equations. The class encompasses a wide variety of nonlinear and infinite-dimensional systems and contains – as a prototype subclass – all finite-dimensional linear single-input single-output minimum-phase systems with positive high-frequency gain. The control objective is to ensure that, for an arbitrary -valued reference signal of class (absolutely...
Tracking with prescribed transient behaviour
Universal tracking control is investigated in the context of a class S of M-input, M-output dynamical systems modelled by functional differential equations. The class encompasses a wide variety of nonlinear and infinite-dimensional systems and contains – as a prototype subclass – all finite-dimensional linear single-input single-output minimum-phase systems with positive high-frequency gain. The control objective is to ensure that, for an arbitrary -valued reference signal r of class W1,∞ (absolutely...
Trajectory planning for nonholonomic mobile robot using extended Kalman filter.
Trajectory tracking control for nonlinear time-delay systems
The reference trajectory tracking problem is considered in this paper and (constructive) sufficient conditions are given for the existence of a causal state feedback solution. The main result is introduced as a byproduct of input-output feedback linearization.
Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system
The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The...