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An algorithmic method is proposed to design stabilizing control laws for a class of nonlinear systems that comprises single-input feedback-linearizable systems and a particular set of single-input non feedback-linearizable systems. The method proceeds iter ...
IEEE Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011
Based on recent advances on convex design for Large-Scale Control Systems (LSCSs) and robust and efficient LSCS self-tuning/adaptation, a methodology is proposed in this paper which aims at providing an integrated LSCS-design, applicable to large-scale sys ...
The problem of aircraft trajectory planning is formulated as a hybrid optimal control problem. The aircraft is modeled as a switched system, that is, a class of hybrid dynamical systems. The sequence of modes, the switching times, and the inputs for each m ...
This paper describes interactive applications used to illustrate an advanced course on multivariable control. The direct manipulation of features in graphics, such as eigenvectors in the phase plane or observer eigenvalues in the complex plane, gives the s ...
Morphology is an important factor in locomotion. It may guide the control strategies that an animal or a robot uses for efficient locomotion. In this paper we try to understand the locomotion strategies of a lizard with a distinctive feature, the long-tail ...
We propose a dynamic optimization approach to calculate optimal feedforward controls for exact path-following problems of differentially flat systems. Besides the derivation of a small dimensional optimal control problem, we provide easily checkable condit ...
The manual design of adaptive controllers for robotic systems that face unpredictable environmental changes is often challenging. There is thus a growing interest in the development of automatic design tools to assist control engineers. One of the most com ...
Adaptive Control (second edition) shows how a desired level of system performance can be maintained automatically and in real time, even when process or disturbance parameters are unknown and variable. It is a coherent exposition of the many aspects of thi ...
This paper addresses the control of the blending process in cement industries. This process can be modeled by a nonlinear multivariable system with large parametric uncertainty. Using a specific transformation, a linear parameter varying (LPV) model with s ...
Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011
This article presents an algorithm for robust nonlinear explicit model predictive control. A low complexity receding horizon control law is obtained by approximating the optimal control law using multiscale basis function approximation. Feasibility and inp ...