Predictive functional control for integrator systems

Control Design for Integrator Hybrid Systems

We define controllability for hybrid systems as the existence of correct control-laws that transfer the hybrid plant between pre-defined subsets of the hybrid state-space. A methodology for analyzing controllability and synthesizing control-laws for a class of hybrid systems, applicable expecially in batch control, is proposed. We use a framework consisting of a hybrid plant and a hybrid contro...

Rigid formation control of double-integrator systems

Robust Model Predictive Control for a Class of Discrete Nonlinear systems

This paper presents a robust model predictive control scheme for a class of discrete-time nonlinear systems subject to state and input constraints. Each subsystem is composed of a nominal LTI part and an additive uncertain non-linear time-varying function which satisfies a quadratic constraint. Using the dual-mode MPC stability theory, a sufficient condition is constructed for synthesizing the ...

Pursuit Formation Control Scheme for Double-Integrator Multi-Agent Systems

Pursuit formation control of double-integrator Multi-Agent Systems (MASs) is considered in this paper. To achieve a formation, a hierarchical control scheme is proposed in two layers. In the first layer, in a leaderless architecture, each agent pursues another one in a cyclic topology to achieve a regular polygon formation around a centroid, namely, pursuit centroid, and in the second layer, th...

Adaptive predictive functional control of a class of nonlinear systems.

This paper describes the use of pseudo-partial derivative (PPD) to dynamically linearize a nonlinear system, and aggregation is applied to the predicted PPD, resulting in a model-free adaptive predictive control algorithm for a nonlinear system. The algorithm design is only based on the PPD derived online from the input/output data of the controlled process, however it does provide bounded inpu...