The explicit linear quadratic regulator for constrained systems

https://users.encs.concordia.ca/~ymzhang/publications/ARC32-2-98Zhang_pp.229-252.pdf

Bibliographical review on reconfigurable fault-tolerant control systems

Survey Constructive nonlinear control: a historical perspective

We review a range of techniques related to navigation of unmanned vehicles through unknown environments with obstacles, especially those that rigorously ensure collision avoidance (given certain assumptions about the system). This topic continues to be an active area of research, and we highlight some directions in which available approaches may be improved. The paper discusses models of the sensors and vehicle kinematics, assumptions about the environment, and performance criteria. Methods applicable to stationary obstacles, moving obstacles and multiple vehicles scenarios are all reviewed. In preference to global approaches based on full knowledge of the environment, particular attention is given to reactive methods based on local sensory data, with a special focus on recently proposed navigation laws based on model predictive and sliding mode control.

/pdf/algorithms-for-collision-free-navigation-of-mobile-robots-in-1s1ksc76if.pdf

Algorithms for collision-free navigation of mobile robots in complex cluttered environments: a survey

Mechatronic semi-active and active vehicle suspensions

Proceedings of the European Control Conference

Encyclopedia of life support systems: Control Systems, Robotics and Automation

In this paper, the combined problem of disturbance rejection and model matching is studied for regularizable singular systems. The problem is handled in matrix polynomial equation setting. The necessary and sufficient conditions are introduced for the existence of a static state feedback that rejects the disturbances and equates the closed loop system transfer matrix to a prespecified rational matrix.

Simultaneous model matching and disturbance rejection in singular systems

In this paper we consider disturbance decoupling problems for switched linear systems. We will provide neces- sary and sufficient conditions for three different versions of disturbance decoupling, which differ based on which signals are considered to be the disturbance. In the first version the continuous exogenous input is considered as the disturbance, in the second the switching signal and in the third both of them are considered as disturbances. The solutions of the three disturbance decoupling problems will be based on geometric control theory for switched linear systems and will entail both mode-dependent and mode-independent static state feedback. Index Terms— Disturbance decoupling, switched linear sys- tems, invariant subspaces, geometric control theory

/pdf/disturbance-decoupling-of-switched-linear-systems-e-f698afrhzi.pdf

Kanat Camlibel

Papers

Proceedings of the European Control Conference

Encyclopedia of life support systems: Control Systems, Robotics and Automation

Simultaneous model matching and disturbance rejection in singular systems

Disturbance Decoupling of Switched Linear Systems E. Yurtseven W.P.M.H. Heemels M.K. Camlibel