In this paper the Distributed Consensus and Synchronization problems with fuzzy-valued initial conditions are introduced, in order to obtain a shared estimation of the state of a system based on partial and distributed observations, in the case where such a state is affected by ambiguity and/or vagueness. The Discrete-Time Fuzzy Systems (DFS) are introduced as an extension of scalar fuzzy diffe...

This paper discusses the design of optimal feedback control laws for hybrid systems with autonomous (continuous) modes. The solution of similar problems, when the dynamic modes are non linear, is, in general, dependent on the initial conditions. The same problem affects the ”open loop” control based on the definition of the optimal switching times. In this work an algorithm is proposed, allowin...

The paper addresses the problem of steering a fully actuated marine vehicle along a desired path. The methodology adopted for path following control deals explicitly with vehicle dynamics and plant parameter uncertainty. Furthermore, it avoids tight constraints on initial conditions that are present in other approaches reported in the literature. The main contribution of the paper is the develo...

Adaptive optimal control using value iteration (VI) initiated from a stabilizing policy is theoretically analyzed in various aspects including the continuity of the result, the stability of the system operated using any single/constant resulting control policy, the stability of the system operated using the evolving/timevarying control policy, the convergence of the algorithm, and the optimalit...

A classical question in adaptive control is that of convergence of the parameter estimates to constant values in the absence of persistent excitation. We provide an affirmative answer for a class of adaptive stabilizers for nonlinear systems. Then we study their asymptotic behavior by considering the problem of whether the parameter estimates converge to stabilizing values-the values which woul...

A method is presented to predict phase relationships between coupled phase oscillators. As an illustration of how the method can be applied, a distributed Central Pattern Generator (CPG) model based on amplitude controlled phase oscillators is presented. Representative results of numerical integration of the CPG model are presented to illustrate its excellent properties in terms of transition s...

This paper is devoted to the study of a one-dimensional optimal control problem of Lagrange type under periodic constraints. The system is governed by a Kolmogorov equation including a control term. We show that the set of initial conditions for which there exists a control such that the associated trajectory is periodic is an interval. Thanks to Pontryagin Maximum Principle, we characterize op...

We consider systems governed by a nonlinear parabolic equation, with a distributed control and a disturbance in the initial condition. We prove the existence of solutions to a corresponding minimax problem, and we obtain necessary optimality conditions in the form of Pontryagin’s principles.

A model for discrete time stochastic hybrid systems whose evolution can be influenced by some control input is proposed in this paper. With reference to the introduced class of systems, a methodology for probabilistic reachability analysis is developed that is relevant to safety verification. This methodology is based on the interpretation of the safety verification problem as an optimal contro...

A controlled SIWR model was considered which was an extension of the simple SIR model by adjoining a compartment W that tracks the pathogen concentration in the water. New infections arise both through exposure to contaminated water as well as by the classical SIR person-person transmission pathway. The controls represent an immune boosting and pathogen suppressing drugs. The objective function...