In this paper, a methodology for hybrid control design is presented. The hybrid systems of interest are characterized by a feedback architecture of a continuous nonlinear plant with a discrete-event controller. The natural invariants of the continuous dynamics are used to partition the state space into regions and to synthesize simple and eÆcient control laws. The paper contains a complete desc...

This paper derives a hybrid control law for an extended nonholonomic double integrator (ENDI) that captures the dynamics of a wheeled robot subject to force and torque inputs. A simple logic-based hybrid controller is proposed which yields global stability and convergence of the closed-loop system to an arbitrarily small neighborhood of the origin. This is achieved by mapping the state-space in...

This work deals with the exponential stabilization problem of discrete-time Markovian jump systems via a hybrid control strategy, in which the transition probability matrix and static output-feedback controller are designed simultaneously. A necessary and sufficient condition for the existence of an exponential stabilizing transition probability matrix is derived by means of a mode-dependent pa...

My research interests span control theory, nonlinear and robust control, robotics, hybrid systems, dynamical systems, optimization, and power systems. I develop nonlinear feedback control solutions for dynamical models ranging from robotic systems to power systems. The models of these systems are typically characterized by high dimensional state spaces, with nonlinear and hybrid dynamics. My re...

Quantitative Feedback Theory (QFT) is employed to achieve time domain specifications on the tip position of a hybrid actuated single-link flexible manipulator. The manipulator payload conditions are varied to assess the robustness of the synthesised control system to parametric uncertainty. A combination of QFT multi input multi output (MIMO) design methods 1 (nonsequential) and 2 (sequential) ...

The concept of postural synergies of the human hand has been shown to potentially reduce complexity in the neuromuscular control of grasping. By merging this concept with soft robotics approaches, a multi degrees of freedom soft-synergy prosthetic hand [SoftHand-Pro (SHP)] was created. The mechanical innovation of the SHP enables adaptive and robust functional grasps with simple and intuitive m...

This paper deals with static output feedback H∞ control of continuous time Active Fault Tolerant Control Systems with Markovian Parameters (AFTCSMP) and statedependent noise. It adopts a new framework, based on the synthesis of ellipsoidal sets of controllers, introduced in [18], [19]. It is also shown that the obtained results can easily be applied to the problematic of mode-independent static...

In this paper, switched linear discrete-time systems are considered. We propose a method to design an observer-based switched control which guarantees that the switched system is asymptotically stable. The contribution of this paper is twofold. We propose a method to design a switched control which allows to place the poles of each subsystem in desired locations and which guarantee that the swi...

We derive a hybrid feedback control law for the lateral leg spring (LLS) model so that the center of mass of a legged runner follows a curved path in horizontal plane. The control law enables the runner to change the placement and the elasticity of its legs to move in a desired direction. Stable motion along a curved path is achieved using curvature, bearing and relative distance between the ru...

The objective of this research is to discover the rules by which the human nervous system controls the cyclic task of paddle juggling. The existence of separate feedforward and feedback control signals is hypothesized, and the feedforward control system is completely identified using tools from dynamical systems theory. Using this knowledge progress is made in identifying the feedback control s...