To controller design and stability analysis for nonlinear Networked Control Systems (NCSs) with timevarying delay, based on the Takagi–Sugeno (T-S) fuzzy model, a controller design scheme was proposed to achieve desired control performance for nonlinear NCSs via state feedback. According to the Lyapunov method, the sufficient condition for the existence of the control law was presented. Simulat...

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...

In this paper, we study two subjects on internally controlled heat equations with time varying potentials: the attainable subspaces and the bang-bang property for some time optimal control problems. We present some equivalent characterizations on the attainable subspaces, and provide a sufficient conditions to ensure the bang-bang property. Both the above-mentioned characterizations and the suf...

Abstract: This paper deals with the design of Optimal Step-Stress Partially Accelerated Degradation Test (PADT) using Wiener Process for modelling degradation paths. In partial step-stress loading, the unit is tested at usual stress for some time and then stress is accelerated. This helps in preventing over-stressing the test specimens. Failure occurs when the performance characteristic crosses...

In this paper, a minimum and near-minimum time optimal control laws are developed and compared for a rigid space platform with flexible links during an orientating maneuver with large angle of rotation. The control commands are considered as typical bang-bang with multiple symmetrical switches, the time optimal control solution for the rigid-body mode is obtained as a bang-bang function and app...

A nonlinear control law to steer the unicycle model to a static or dynamic target pose is presented. If the target is static the control signals are smooth in their arguments and the solution guarantees exponential convergence of the distance and orientation errors to zero. The major advantages of the proposed approach are that there is no need for path planning and, in principle, there is no n...

We analyze conditional optimization problems arising in discrete time Principal-Agent problems of delegated portfolio optimization with linear contracts. Applying tools from Conditional Analysis we show that some results known in the literature for very specific instances of the problem carry over to translation invariant and time-consistent utility functions in very general probabilistic setti...

We investigate turnpike behaviour of discrete time optimal control problems with linear dynamics and linear-quadratic cost functions including state and control constraints. We give necessary and sufficient conditions in terms of spectral criteria and matrix inequalities. As important tools we use the concepts of strict dissipativity and a new property called strict pre-dissipativity of a syste...

This paper continues our investigations into the passivity-based control of the compass gait biped. It was shown in [14] for the compass gait biped, and in [15] for the general case, that a passive limit cycle for a given constant slope can be made slope invariant via potential energy shaping control. In this paper we consider the application of total energy shaping to this problem. Using a con...