A control scheme is proposed for stabilization of backward driving along simple paths for a miniaturized vehicle composed of a truck and a two-axle trailer. The paths chosen are straight lines and arcs of circles. When reversing, the truck and trailer under examination can be modeled as an unstable nonlinear system with state and input saturations. The simplified goal of stabilizing along a tra...

In this paper, the disturbance attenuation properties for classes of linear hybrid systems perturbed by exterior disturbances are investigated, and a hybrid l robust optimal control problem is studied. First, a procedure is developed to determine the minimal l∞ induced gain of linear hybrid systems. However, for general hybrid systems, the termination of the procedure is not guaranteed. Then, t...

This paper studies the problem of stabilization with optimal performance for dissipative DIHS discrete-time impulsive hybrid systems . By using Lyapunov function method, conditions are derived under which the DIHS with zero inputs is GUAS globally uniformly asymptotically stable . These GUAS results are used to design feedback control law such that a dissipative DIHS is asymptotically stabilize...

Abstract Under the multi-objective framework, this paper presents a hybrid algorithm to solve robust static output feedback control problem for continuous polytopic uncertain system. To obtain static output feedback gain, a new hybrid algorithm is proposed by combination of a hybrid algorithm of the Particle Swarm Optimization (PSO) and Differential Evolution (DE), and the linear matrix inequal...

We study so-called "hybrid feedback stabilizers" for an arbitrarily general system of linear di erential equations. We prove that under assumptions of controllability and observability there exists a hybrid feedback output control which makes the system asymptotically stable. The control is designed by making use of a discrete automaton implanted into the system's dynamics. In general, the auto...

Traditional Model Predictive Controllers make use of computation expensive optimization methods. The challenge of this research is to take advantage of properties of MPC and use a hybrid gradient descent method to replace the on-line optimization by a simple set of differential equations. Continuousand discrete-time controllers are presented. Promising results are provided for the control of li...