This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.

Adaptive Control

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L2 Gain And Passivity Techniques In Nonlinear Control

Lecture notes in control and information sciences

Event-triggered communication and control of networked systems for multi-agent consensus

https://hal.archives-ouvertes.fr/hal-01363448/document

Recent developments on the stability of systems with aperiodic sampling: An overview

Stability analysis of bilinear systems under aperiodic sampled-data control

Robots are more and more often designed in order to perform tasks in synergy with human operators. In this context, a current research focus for collaborative robotics lies in the design of high-performance control solutions, which ensure security in spite of unmodeled external forces. The present work provides a method based on Model Predictive Control (MPC) to allow compliant behavior when interacting with an environment, while respecting practical robotic constraints. The study shows in particular how to define the impedance control problem as a MPC problem. The approach is validated with an experimental setup including a collaborative robot. The obtained results emphasize the ability of this control strategy to solve constraints like speed, energy or jerk limits, which have a direct impact on the operator’s security during human-robot compliant interactions.

Model Predictive Impedance Control

This paper is dedicated to the stability analysis of nonlinear sampled-data systems, which are affine in the input. Assuming that a stabilizing continuous-time controller exists and it is implemented digitally, we intend to provide sufficient asymptotic/exponential stability conditions for the sampled-data system. This allows to find an estimate of the upper bound on the asynchronous sampling periods. The stability analysis problem is formulated both globally and locally. The main idea of the paper is to address the stability problem in the framework of dissipativity theory. Furthermore, the result is particularized for the class of polynomial input-affine sampled-data systems, where stability may be tested numerically using sum of squares decomposition and semidefinite programming.

/pdf/on-the-stability-of-input-affine-nonlinear-systems-with-uz9bxmmiw1.pdf

Hassan Omran

Papers

Recent developments on the stability of systems with aperiodic sampling: An overview

Stability analysis of bilinear systems under aperiodic sampled-data control

Model Predictive Impedance Control

On the stability of input-affine nonlinear systems with sampled-data control

Local Stability of Bilinear Systems with Asynchronous Sampling