Showing papers in "Automatica in 2002"

TL;DR: A technique to compute the explicit state-feedback solution to both the finite and infinite horizon linear quadratic optimal control problem subject to state and input constraints is presented, and it is shown that this closed form solution is piecewise linear and continuous.

TL;DR: This paper presents a global non-singular terminal sliding mode controller for rigid manipulators to enable the elimination of the singularity problem associated with conventional terminal slide mode control.

TL;DR: A new PBC theory is developed which extends to a broader class of systems the aforementioned energy-balancing stabilization mechanism and the structure invariance and considers instead port-controlled Hamiltonian models, which result from the network modelling of energy-conserving lumped-parameter physical systems with independent storage elements, and strictly contain the class of EL models.

TL;DR: The new design method is direct and can be applied using a single set of data generated by the plant, with no need for specific experiments nor iterations, and it is shown that the method searches for the global optimum of the design criterion.

TL;DR: A simple condition is derived in terms of an auxiliary feedback matrix for determining if a given ellipsoid is contractively invariant, which is shown to be less conservative than the existing conditions which are based on the circle criterion or the vertex analysis.

TL;DR: This survey reveals that surprisingly few control innovations have been presented since the early path breaking papers that introduced the describing function analysis of systems with backlash.

TL;DR: Complete geometric criteria are presented for controllability and reachability of switched linear systems.

TL;DR: It is shown that it is possible to find realizations for any given family of controller transfer matrices so that the closed-loop system remains stable, no matter how the authors switch among the controller.

TL;DR: In this paper, the global tracking problem for an underactuated ship with only two propellers was studied and two constructive solutions were proposed by application of Lyapunov's direct method under sufficient conditions of persistent excitation.

TL;DR: This paper is concerned with the control of nonlinear pure-feedback systems with unknown nonlinear functions, and developed adaptive NN control schemes achieve semi-global uniform ultimate boundedness of all the signals in the closed-loop.

TL;DR: The paper presents two control strategies based on emergent behavior approaches for maintaining attitude alignment among a group of spacecraft in either deep space or earth orbit and proves analytically that the approach guarantees formation keeping throughout the maneuver.

TL;DR: The technique described in this paper can be applied to polytopic uncertain systems and is based on the use of several Lyapunov functions each one corresponding to a different vertex of the uncertainty's polytope.

TL;DR: The new approach applies to general discrete-time and continuous-time nonlinear systems with uncertainties and relies on safety properties provided by sublevel sets of equilibria-parameterized functions, which significantly broadens the class of methods available for constructing the nonlinear function that is required in the implementation of the reference governors.

TL;DR: This paper proposes two methods for detecting and reconstructing sensor faults using sliding mode observers in which the original sensor fault appears as an actuator fault.

TL;DR: The design procedure is a combination of adaptive backstepping and neural network based design techniques and it is shown that the solution of the closed-loop system is uniformly ultimately bounded.

TL;DR: A robust repetitive controller structure is proposed that uses multiple memory-loops in a certain feedback configuration, such that small changes in period-time do not diminish the disturbance rejection properties.

TL;DR: By using the blind approach, it is shown that all internal variables can be recovered solely based on the output measurements and identification of linear and nonlinear parts can be carried out.

TL;DR: Algorithms based on iterative linear matrix inequality technique are developed to find the feedback gains of PID controllers corresponding to the above mentioned four cases.

TL;DR: A stability criterion that is formulated in a linear matrix inequality (LMI) form is derived and the results obtained significantly improve the estimate of stability limit over some existing results in the literature.

TL;DR: By using arguments from the dissipativity theory for nonlinear systems, this paper generalizes the approach to analyze the l"2-gain of PWA systems and shows that the continuity of the Lyapunov function is not required in discrete time.

TL;DR: A general dynamic model is proposed for describing a large class of nonholonomic systems including extended chained systems, extended power systems, underactuated surface vessel systems etc, which is transformed into linear time-varying control systems and the asymptotic exponential stability is achieved by using a smooth time- varying feedback control law.

TL;DR: A stabilization method for linear time-delay systems which extends the classical pole placement method for ordinary differential equations, which does not render the closed loop system but consists of controlling the rightmost eigenvalues.

TL;DR: In this paper, a simple control scheme based on second-order sliding modes is proposed to guarantee a fast and precise load transfer and the swing suppression during the load movement, despite of model uncertainties and unmodeled dynamic actuators.

TL;DR: The L2 anti-windup approach introduced in Teel and Kapoor is generalized and applied to the problem of bumpless transfer in (saturated) multi-controller systems, and to theproblem of designing highly reliable saturated control systems exploiting hardware redundancy.

TL;DR: A deterministic approach is proposed based on the idea of separable least squares for input nonlinearities parameterized by one parameter, which is very effective for several common static and nonstatic input non linearities.

TL;DR: Finite initial rectifying action is introduced in the learning algorithm and is shown effective in the improvement of tracking performance, in particular robustness with respect to variable initial shifts.

TL;DR: This paper presents a first study on the application of interval analysis and consistency techniques to state estimation of continuous-time systems described by nonlinear ordinary differential equations.

TL;DR: A subspace identification method that deals with multivariable linear parameter-varying state-space systems with affine parameter dependence and an efficient selection algorithm that does not require the formation of the complete data matrices, but processes them row by row.

TL;DR: The gradient flow approach is used to obtain the solution of the H"2 model reduction problem and allows certain properties of the original models to be preserved in the reduced order models.