Journal ArticleDOI
A Lyapunov-Like Characterization of Asymptotic Controllability
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TLDR
In this paper, it was shown that a control system is controllable to the origin if and only if there exists a positive definite continuous functional of the states whose derivative can be made negative by appropriate choices of controls.Abstract:
It is shown that a control system in ${\bf R}^n $ is asymptotically controllable to the origin if and only if there exists a positive definite continuous functional of the states whose derivative can be made negative by appropriate choices of controls.read more
Citations
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Linear Matrix Inequalities in System and Control Theory
TL;DR: In this paper, the authors present a brief history of LMIs in control theory and discuss some of the standard problems involved in LMIs, such as linear matrix inequalities, linear differential inequalities, and matrix problems with analytic solutions.
Journal ArticleDOI
Smooth stabilization implies coprime factorization
TL;DR: In this paper, it was shown that coprime right factorizations exist for the input-to-state mapping of a continuous-time nonlinear system provided that the smooth feedback stabilization problem is solvable for this system.
Journal ArticleDOI
Hybrid dynamical systems
TL;DR: In this paper, the authors present a tutorial on modeling the dynamics of hybrid systems, on the elements of stability theory for hybrid systems and on the basics of hybrid control, focusing on the robustness of asymptotic stability to data perturbation, external disturbances and measurement error.
BookDOI
Handbook of Marine Craft Hydrodynamics and Motion Control: Fossen/Handbook of Marine Craft Hydrodynamics and Motion Control
TL;DR: In this article, the authors present a survey of the latest tools for analysis and design of advanced guidance, navigation and control systems and present new material on underwater vehicles and surface vessels.
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Fast Model Predictive Control Using Online Optimization
Yang Wang,Stephen Boyd +1 more
TL;DR: A collection of methods for improving the speed of MPC, using online optimization, which can compute the control action on the order of 100 times faster than a method that uses a generic optimizer.
References
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Stability Theory by Liapunov’s Direct Method
TL;DR: Barachin and Krasovski as mentioned in this paper introduced the concept of Attractivity for non-autonomous equilibria and proposed an approach to construct Liapunov functions.
Book
Stability of nonlinear control systems
TL;DR: In this article, Liapunov and Popov developed a control system as developed from direct method of LAPUNOV, noting V. M. Popov's contribution.