Top-Down Synthesis of Multiagent Formation Control: An Eigenstructure Assignment Based Approach

Eigenstructure Assignment for Control

Robust Eigenstructure Assignment: New Approach

This paper considers the problem of robust eigenstructure assignment, which involves finding a feedback gain matrix that makes the closed-loop system insensitive to perturbations or parameter variations. The main contribution of the paper is to derive a new robustness measure using the matrix perturbation theory. The new measure is used to formulate a new method for robust control of the system...

Eigenstructure Assignment in Reconfigurable Control Systems Eigenstructure Assignment in Reconfigurable Control Systems

An optimization approach to control reconnguration, based on eigenstructure assignment , for control systems with output feedback is presented. The emphasis is on the recovery of the nominal closed-loop performance, which is determined by the closed-loop eigenvalues and eigenvectors. The proposed scheme preserves the max(r; q) most dominant eigenvalues of the nominal closed-loop system and dete...

Robust Eigenstructure Assignment in Geometric Control Theory

In this paper we employ the Rosenbrock system matrix pencil for the computation of output-nulling subspaces of linear time-invariant systems which appear in the solution of a large number of control and estimation problems. We also consider the problem of finding friends of these output-nulling subspaces, i.e., the feedback matrices that render such subspaces invariant with respect to the close...

Eigenstructure Assignment for Helicopter Hover Control

Abstract: In this paper, recent Eigenstructure Assignment (EA) algorithms are implemented to provide dynamic control of a Lynx helicopter in the hover, using the ideal eigenstructure derived by Clarke et al. [2003b]. First, a state-feedback controller is presented to demonstrate that the target eigenstructure is consistent with the kinematics of a helicopter, and that the closed-loop system mee...