Article
Automation & Control Systems
Alexander Aleksandrov, Denis Efimov, Sergey Dashkovskiy
Summary: This paper investigates several designs of Lyapunov functions for two canonical models of mechanical systems with disturbances presented by Rayleigh- and Lienard-type equations. The existence of these functions implies global or local input-to-state stability property for the systems, under given restrictions. The proposed stability conditions are constructive, as demonstrated in applications.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Hiroshi Ito
Summary: This article discusses the analysis and control of the SIR model of infectious diseases in both disease-free and epidemic situations, focusing on the net flow of susceptible individuals into a region. The key contribution is the construction of a continuously differentiable strict Lyapunov function, which is used to prove the input-to-state stability (ISS) of the model. Two types of feedback control laws are proposed for mass vaccination, aiming to reduce the peaks of the infected population within the ISS guarantees.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2022)
Article
Automation & Control Systems
Pavel Osinenko, Grigory Yaremenko, Georgiy Malaniya
Summary: The control Lyapunov function is a key tool for stabilization and extends the concept of a Lyapunov function to controlled systems. Most control Lyapunov functions are nonsmooth, including in nonholonomic systems like wheeled robots and cars. This work generalizes existing stabilization frameworks to the stochastic case, considering random noise acting on the system. The main result is a theorem stating that if a control Lyapunov function exists, the stochastic dynamical system can be practically stabilized in the sample-and-hold mode using a specific control method.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2023)
Article
Automation & Control Systems
Qian Liu, Yong He, Chongyang Ning
Summary: This article investigates the pth moment input-to-state stability and the pth moment integral input-to-state stability of stochastic systems with Markovian switching. Sufficient conditions are provided using indefinite multiple Lyapunov functions (iMLFs) with a time-varying sojourn time condition. The criteria quantify the stability of each individual subsystem with time-varying infinitesimal generator of Lyapunov function, allowing generators to be positive in some intervals.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2021)
Article
Computer Science, Information Systems
Shizhang Chen, Chongyang Ning, Qian Liu, Qingping Liu
Summary: This study focuses on the Lyapunov characterization of input-output-to-state stability for time-varying nonlinear switched systems. It relaxes the restriction on the negativity of the time derivative of Lyapunov functions and allows subsystems to not be IOSS in the state space. The results are extended to integral input-output-to-state stability and output-to-state stability, and a state-norm estimator based on the indefinite Lyapunov function is proposed as a by-product. The effectiveness of the results is illustrated through a numerical example.
INFORMATION SCIENCES
(2022)
Article
Automation & Control Systems
Ricardo de Castro, Shuang Feng
Summary: This paper focuses on the enforcement of safety constraints using control barrier functions (CBFs) for dynamic systems with high relative degree. The CBFs shrink the control action space as the system approaches operating points close to the safety boundary. Proxy metrics are proposed to quantify this shrinkage and optimization formulations are derived to synthesize CBFs with high-order degree. The tuning technique is applied to synthesizing CBFs for adaptive cruise control to avoid vehicle collisions, with simulation results showing improved control performance near the safety boundary.
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
(2023)
Article
Automation & Control Systems
Jiali Ma, Ju H. Park, Shengyuan Xu
Summary: This article proposes a method for the finite-time adaptive control problem of nonlinear systems, which does not require known quantized parameters and disturbance bounds. By utilizing command filter backstepping method, an adaptive switching-type controller is designed with a novel switching mechanism, ensuring practical finite-time stability for the closed-loop system by regulating controller parameters online.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2021)
Article
Automation & Control Systems
Nelson F. F. Barroso, Rosane Ushirobira, Denis Efimov
Summary: In this paper, the problem of robust stabilization of affine nonlinear multistable systems in the presence of exogenous disturbances is studied. The results are based on the theory of input-to-state stability (ISS) and integral input-to-state stability (iISS) for systems with multiple invariant sets. The concepts of ISS and iISS control Lyapunov functions (CLFs) and the small control property are extended within the multistability framework. The efficiency of the extended CLF framework in the multistable sense is demonstrated through a Duffing system and a noise-induced transition in a semiconductor-gas-discharge gap system.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Yuh Yamashita, Kiminori Sakano, Koichi Kobayashi
Summary: This study proposes a novel stabilizing controller for nonlinear systems using group-wise sparse inputs. The controller improves energy efficiency and can be applied to large-scale systems, with best-effort property.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Automation & Control Systems
Xiao Tan, Wenceslao Shaw Cortez, Dimos V. Dimarogonas
Summary: This article introduces a notion of high-order barrier functions that guarantee set forward invariance by checking their higher order derivatives. A singularity-free control scheme is proposed for controlled dynamical systems, ensuring safety. The article also includes a case study on rigid-body attitude dynamics.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2022)
Article
Mathematics, Applied
Le Wang, Wei Sun, Shun-Feng Su
Summary: In this study, an adaptive asymptotic tracking control scheme is proposed for strict-feedback nonlinear systems with state constraints and input saturation. The scheme ensures that system states do not violate the given constraints and the tracking error converges to zero asymptotically.
APPLIED MATHEMATICS AND COMPUTATION
(2022)
Article
Engineering, Mechanical
Yiming Guo, Xiaojun Xing, Xiwei Wu, Cihang Wu, Bing Xiao
Summary: This paper investigates the problem of path-following control for parafoil dynamic systems in time-varying wind disturbance. An adaptive path-following controller is developed using the barrier Lyapunov function and backstepping method, considering the yaw rate constraint. The controller ensures the attenuation of disturbances caused by time-varying wind and modeling uncertainties, while avoiding violation of practical constraints on the yaw rate of the parafoil system. Experimental tests demonstrate the performance of the proposed path-following controller for parafoil systems.
NONLINEAR DYNAMICS
(2023)
Article
Automation & Control Systems
Jun Liu
Summary: We prove the existence of a robust converse barrier function theorem using the converse Lyapunov theory, demonstrating that all robustly safe dynamical systems must have a robust barrier function in the form of a Lyapunov function for set stability.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2022)
Article
Mathematics, Applied
Pierdomenico Pepe
Summary: This paper studies a nonlinear version of Halanay's inequality as a sufficient condition for the convergence of functions to the origin, uniformly with respect to bounded sets of initial values. It also provides related Lyapunov methods for global uniform asymptotic stability and input-to-state stability of systems described by retarded functional differential equations, with possibly nonconstant time delays, and shows the relationship with the Razumikhin methodology.
MATHEMATICAL CONTROL AND RELATED FIELDS
(2022)
Article
Automation & Control Systems
Shuai Yuan, Maolong Lv, Simone Baldi, Lixian Zhang
Summary: This article investigates the stability of continuous-time switched linear systems with dwell-time constraints using novel stability conditions that lead to a unique Lyapunov function. The proposed analysis is applied to the problem of adaptive control of switched linear systems with parametric uncertainties, achieving the same dwell time as existing research while simplifying computational complexity.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2021)
Article
Automation & Control Systems
Pengpeng Zhang, Marcio de Queiroz
ASIAN JOURNAL OF CONTROL
(2019)
Article
Automation & Control Systems
Ruzhou Yang, Marcio de Queiroz
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
(2018)
Article
Robotics
Milad Khaledyan, Marcio de Queiroz
Article
Automation & Control Systems
Pengpeng Zhang, Marcio de Queiroz, Milad Khaledyan, Tairan Liu
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
(2019)
Article
Automation & Control Systems
Tairan Liu, Marcio de Queiroz, Pengpeng Zhang, Milad Khaledyan
Summary: A method for addressing convergence to incorrect equilibrium points of distance-based formation controllers was introduced by adding an additional controlled variable, the signed area of a triangle. This method was generalized to planar formations of n agents for both first- and second-order agent models in this paper. In addition to directed formation shape control, the issue of formation motions was also considered, with experimental evaluations presented to support the theoretical results.
INTERNATIONAL JOURNAL OF CONTROL
(2021)
Article
Automation & Control Systems
Farhad Mehdifar, Farzad Hashemzadeh, Mahdi Baradarannia, Marcio de Queiroz
IEEE TRANSACTIONS ON CYBERNETICS
(2019)
Article
Automation & Control Systems
Milad Khaledyan, Tairan Liu, Victor Fernandez-Kim, Marcio de Queiroz
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
(2020)
Article
Automation & Control Systems
Tairan Liu, Marcio de Queiroz
Summary: This paper presents a novel approach to prevent 3D formation ambiguities by augmenting distance-based formation controllers with a secondary constraint. By introducing controlled variables forming an orthogonal space, the proposed method uniquely characterizes tetrahedron formations, ensuring global and local stability without conditions on tetrahedrons or control gains.
Article
Engineering, Mechanical
Chen Rui, Jie Li, Yinhe Chen, Qing Zhang, Ruzhou Yang, Marcio de Queiroz
Summary: Neuromuscular electrical stimulation (NMES) is a promising technique for activating the musculoskeletal system in the presence of neurological impairments. In this paper, a Nussbaum-type neural network (NN)-based controller is proposed for lower leg limb NMES systems, which takes into account model uncertainties and external disturbances while providing rigorous stability analysis for adaptive NMES tracking with input saturation and muscle fatigue.
JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS
(2022)
Article
Automation & Control Systems
Tairan Liu, Marcio de Queiroz
Summary: A common issue with distance-based formation control is the presence of multiple equilibriums not related to the desired formation, which can be addressed by introducing an additional controlled variable. This article extends the distance + angle-based scheme for 2-D formations of single-integrator agents by utilizing directed graphs and triangulation of the n-agent formation, demonstrating that the controller can ensure the asymptotic stability of the correct formation for almost all initial agent positions under certain conditions.
IEEE TRANSACTIONS ON CYBERNETICS
(2021)
Proceedings Paper
Automation & Control Systems
Farid Sahebsara, Marcio de Queiroz
Summary: This paper introduces a simple solution for avoiding flip ambiguities in distance-based formation control, specifically for planar formations grown sequentially via triangulations. The control system comprises a standard distance-based controller and a high-level switching scheme, ensuring convergence to the desired formation for all initial conditions except for specific cases. Experimental results demonstrate the effectiveness of the formation control.
Proceedings Paper
Automation & Control Systems
Ruzhou Yang, Marcio de Queiroz, Meng Li
Article
Public, Environmental & Occupational Health
Jan M. Hondzinski, Laura Ikuma, Marcio de Queiroz, Chao Wang
WORK-A JOURNAL OF PREVENTION ASSESSMENT & REHABILITATION
(2018)
Proceedings Paper
Computer Science, Interdisciplinary Applications
Chao Wang, Laura Ikuma, Jan Hondzinski, Marcio de Queiroz
COMPUTING IN CIVIL ENGINEERING 2017: SENSING, SIMULATION, AND VISUALIZATION
(2017)
Meeting Abstract
Hospitality, Leisure, Sport & Tourism
Jan M. Hondzinski, Laura Ikuma, Marcio de Queiroz, Wang Chao
JOURNAL OF SPORT & EXERCISE PSYCHOLOGY
(2017)
