Control Lyapunov functions (CLFs), CLF based controller designs and disturbance attenuation have attracted much attention in nonlinear control theory. However, little research exists that considers both the input constraint and the disturbance attenuation problems. For input constrained systems, we cannot stabilize under unbounded disturbances in general. Therefore, we propose an input-to-state...

In this paper, a modiied version of the receding horizon control of nonlinear systems is proposed. The new approach is based on a nite horizon optimal control problem with an end point penalty. This method can be treated as an extension of recent results of De Nicolao et al. to the case where a globally stabilizing control law is available. Similar to the afore mentioned result, the end point p...

As the level of global economy was enhanced, amount meat consumption has increased rapidly. Environmental pollution by livestock excretion become a big problem worldwide because number farms increased. However, we need to consider availability manure as an organic matter resource in sustainable agriculture. Here, survey effects purified liquid fertilizer (PLF) and Bio-fertilizer (LBF) on plant ...

We present CLF, a dependently typed logical framework with several novel features supporting concurrent computations, in particular monads and synchronous linear connectives. We illustrate its representation methodology of concurrent computations as monadic expressions via the encoding of an asynchronous π-calculus with correspondence assertions, including its dynamic semantics, safety criterio...

We address the safety-critical control problem for systems whose dynamics evolve on manifolds using the concepts of control Lyapunov functions (CLFs) and control Barrier functions (CBFs). We first extend the concepts of CLFs and CBFs from Cartesian spaces to manifolds, resulting in geometric CLFs and CBFs. We then formulate a state-dependent online quadratic program (QP) that imposes the constr...

Although control Lyapunov functions (CLFs) provide a mature framework for the synthesis of stabilizing controllers, their application in the field of hybrid systems remains scarce. One of the reasons for this is conservativeness of Lyapunov conditions. This article proposes a methodology that reduces conservatism of CLF design and is applicable to a wide class of discrete-time nonlinear hybrid ...

In this paper, a new approach of designing robust adaptive backstepping controller for horizontal position control of a rotary wing autonomous unmanned vehicle (RAUV) with consideration of parametric uncertainties and external disturbances is proposed. Based on this new approach, the proposed RAUV controller is adaptive to the parametric uncertainties and robust to the external disturbances. To...

In this paper we compare di!erent nonlinear control design methods by applying them to the planar model of a ducted fan engine. The methods used range from Jacobian linearization of the nonlinear plant and designing an LQR controller, to using model predictive control and linear parameter varying methods. The controller design can be divided into two steps. The "rst step requires the derivation...