The problem of a spacecraft tracking a desired trajectory is defined and addressed using adaptive feedback control. The control law, which has the form of a sixth-order dynamic compensator, does not require knowledge of the inertia of the spacecraft. A Lyapunov argument is used to show that tracking is achieved globally. A simple spin about the intermediate principal axis and a coning motion ar...

This paper, which is the natural continuation of [14], studies a class of optimal control problems with state constraints where the state equation is a differential equation with delays. In [14] the problem is embedded in a suitable Hilbert space H and the regularity of the associated Hamilton-Jacobi-Bellman (HJB) equation is studied. The goal of the present paper is to exploit the regularity r...

A canonical optimal control problem for linear systems with timevarying coefficients is considered in the class of discrete controls. On the basis of linear programming methods, two primal and two dual methods of constructing optimal open-loop controls are proposed. A method of synthesis of optimal feedback control is described. Results are illustrated by a fourth-order problem; estimates of ef...

In Part I a technique for the swing-up control of single inverted pendulum system is presented. The requirement is to swing-up a carriage mounted pendulum system from its natural pendent position to its inverted position. It works for all carriage balancing single inverted pendulum systems as the swing-up control algorithm does not require knowledge of the system parameters. Comparison with pre...

A new formulation of a trajectory tracking controller for flexible joint robotic manipulator is proposed. The controller is based on the continuous time nonlinear predictive control approach wherein predicted errors in the actual response and the desired response and current control expenditure is minimized point-wise to obtain an optimal, nonlinear feedback control law. It is shown that the we...

This paper is devoted to the study of the local rapid exponential stabilization problem for a controlled Kuramoto–Sivashinsky equation on a bounded interval. We build a feedback control law to force the solution of the closed-loop system to decay exponentially to zero with arbitrarily prescribed decay rates, provided that the initial datum is small enough. Our approach uses a method we introduc...

This paper deals with the dynamic visual feedback control with a movable camera instead of a fixed camera in the fixed camera configuration. Firstly the brief summary of the visual feedback system with a fixed camera is given with the fundamental representation of a relative rigid body motion. Secondly we construct the new error system in order to consider the camera field of view. Next, we der...

We study nonlinear systems with both control and disturbance inputs. The main problem addressed in the paper is design of state feedback control laws that render the closed-loop system integral-inputto-state stable (iISS) with respect to the disturbances. We introduce an appropriate concept of control Lyapunov function (iISS-CLF), whose existence leads to an explicit construction of such a cont...

This work discusses the construction of an observer for language-driven control systems. Such systems accept symbolic inputs corresponding to feedback control laws together with logical conditions which determine when each control law is to be applied. Here, we explore the problem of how to identify the symbolic string driving the system through observation of its output. We discuss the identif...