This paper describes the two stage control using a disturbance observer and a Kalman filter. The system feedback uses the estimated state when it controls the speed. After the change-over point, its feedback uses the controlled plant output when it controls the position. To change the system continually, a change-over point has to be determined pertinently, and the controlled plant input has to...

The mixed H /H control problem is studied for a class of nonlinear systems. A procedure providing a sub-optimal solution to this problem is discussed and analyzed in detail. The sub-optimal state-feedback control law can be obtained solving two Hamilton}Jacobi equations and a simple one parameter static minimization problem. A simple one-dimensional example is discussed in detail and applicatio...

In this work we analyze the large-time behavior of a spatially structured economic growth model coupling physical capital accumulation and pollution diffusion. This model extends other results in the literature along different directions. Alongside the classical Cobb–Douglas production function, a convex–concave production function is considered. We add a negative feedback to the production fun...

In many applications of motion control, problems associated with imprecisely measured or changing load (a mass or a moment of inertia) can be a serious obstacle in the formation of satisfactory controlling systems. This barrier compels the designer to include various kinds of uncertainties in engineering solutions. The present paper deals with the time-optimal control for mechanical systems wit...

In this paper, we consider a formation keeping problem for a satellite formation flying system. The relative motion dynamics is designed with polytopic uncertainties by considering elliptical reference orbit, noncoplarnar formation and unknown angular rate, angular acceleration within some boundary. We propose a composite nonlinear feedback control law obtained by the solution to an algebraic R...

The paper adopts a geometric approach to stabilization and tracking of a spherical robot actuated by three internal rotors mounted on three mutually orthogonal axes inside the robot. The system is underactuated and subject to nonholonomic constraints. Initially, the equations of motion are derived through Euler-Poincaré reduction. Then two feedback control laws are synthesized: the first contro...

This paper is concerned with the stability of a class of robust and constrained optimal control laws for linear discrete-time systems subject to bounded state disturbances and arbitrary convex constraints on the states and inputs. The paper considers the class of feedback control policies parameterized as affine functions of the system state, calculation of which has recently been shown to be t...

This paper presents a distributed smooth time-varying feedback control law for coordinating motions of multiple nonholonomic mobile robots of the Hilare-type to capture/enclose a target by making troop formations. This motion coordination is a cooperative behavior for security against invaders in surveillance areas. Each robot in this control law has its own coordinate system and it senses a ta...

We consider the feedback control problem for a wheeled mobile robot with the kinematics of a unicycle, a typical example of nonholonomic robotic system. It is shown that dynamic feedback linearization can be used to design a simple control law which is valid for trajectory tracking as well as point stabilization tasks. In particular, for both cases exponential convergence with linear transients...

We provide stabilizing feedback control laws for the kinematic system of an underactuated axisymmetric spacecraft subject to input constraints. The proposed control law forces all closed-loop trajectories in a region of the state space where the control inputs are small and bounded. The control law is subsequently extended to solve the case of attitude tracking for an underactuated spacecraft u...