Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 13 of 13 for “"Input-to-state stability"”.
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Invertibility and Input -to -State Stability of Switched Systems and Applications in Adaptive Control
… applications of switched systems, we apply our stability, results for switched systems to the problem of adaptively controlling uncertain nonlinear plants and linear time-varying plants. For uncertain nonlinear plants with hounded noise and disturbances, we show that using supervisory control, …
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Nonlinear and switched systems: Geometric motion planning, non-monotonic Lyapunov functions and input-to-state stability
… strategy for motion planning and analysis of stability of nonlinear and switched systems have been researched in this work. In terms of control strategy, we propose a novel approach to the long-standing problem of motion planning for non-holonomic systems. The admissible motion is obtained by …
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Some tracking problems for aerospace models with input constraints
… models of planar vertical takeoff and landing (PVTOL) aircraft and unmanned air vehicles (UAVs). The novelty of our PVTOL work is the global boundedness of our controllers in the decoupled coordinates, the positive uniform lower bound on the thrust controller, the applicability of our work to …
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Learning Stabilizing Controllers for High-dimensional Unknown Systems and Networked Dynamical Systems
… controllers is a fundamental challenge in autonomous systems, particularly for high-dimensional, nonlinear systems that cannot be accurately modeled using differential equations because of the scalability and model transparency, and large-scale networked dynamical systems because of …
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Reliable *Control of Multi-Agent *Systems
In this dissertation we propose semiautonomous and autonomous solutions to multi-agent problems. We first utilize the concept of input-to-state stability to address the problem of semiautonomous control of multi-agent systems, and show that stability of the system is maintained in the presence of …
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Switched and hybrid systems with inputs: small-gain theorems, control with limited information, and topological entropy
In this thesis, we study stability and stabilization of switched and hybrid systems with inputs. We consider primarily two topics in this area: small gain theorems for interconnected switched and hybrid systems, and control of switched linear systems with limited information. First, we study …
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Nonlinear attitude control of spacecraft with strain-actuated solar arrays
… bending the flexible appendage using strain actuators. Global asymptotic convergence of the controller’s is proved using the Lyapunov direct method, which ensures that the control objectives of trajectory tracking and slewing are achieved. The Input-to-State stability of these controllers is used …
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Approximate Explicit MPC and Closed-loop Stability: Analysis based on PWA Lyapunov Functions
Model Predictive Control (MPC) is the de facto standard in advanced industrial automation systems. There are two main formulations of the MPC algorithm: an implicit one and an explicit MPC one. The first requires an optimization problem to be solved on-line, which is the main limitation when …
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Studies on Stability and Stabilization of Randomly Switched Systems
This thesis presents a study on stability analysis and stabilizing controller synthesis of randomly switched systems. These systems have two ingredients: a family of nonlinear subsystems and a random switching signal that specifies which subsystem is active at each time instant. In broad strokes, …
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Performance and Robustness Assessment for a Robust Port-Hamiltonian Flight Controller
… unmanned air vehicles are constantly searching to improve robustness and performance of flight control systems through new control laws. A control law can be designed to provide robustness guarantees due to the structure of the aircraft dynamics. This work presents an implementation of a novel …
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Estimation and control with limited information and unreliable feedback
… literature. As a result, standard control tools fail to maximize the performance in control systems utilizing these new sensors. In this work we formulate new assumptions on the measurements applicable to new sensing capabilities, and develop and analyze control tools that perform better …
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Teleoperation of passivity-based model reference robust control over the internet
… a live communication medium through the internet to host a virtual communication environment for use in Passivity-Based Model Reference Robust Control systems with delays. The controller which is used as a carrier to support a robust communication between input-to-state stability is designed as a …
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A Two-Dimensional Systems Stability Analysis of Vehicle Platoons
… of this dissertation are in the field of stability analysis of linear and nonlinear two-dimensional systems. The study of stability of such systems is motivated by the “string stability” or “platooning” problem: In order to achieve tighter spacing between vehicles travelling one after the …