We present a protocol for maintaining a spanning tree that is maximal with respect to any given (bounded and monotonic) routing metric. This protocol has two interesting adaptive properties. First, the protocol is stabilizing: starting from any state, the protocol stabilizes to a state where a maximal tree is present. Second, the protocol is loop-free: starting from any state where a spanning t...

This paper presents an attitude observer based on single vector observations with globally exponentially stable error dynamics. The proposed solution is computationally efficient and, as the observer does not evolve on the Special Orthogonal Group SO(3), an explicit solution on SO(3) is also provided, whose error is shown to converge to zero for all initial conditions. Singularities, unwinding ...

Consider a network of processes that exchange messages via FIFO communication channels. Each process chooses a subset of its neighboring processes to be its successors. Furthermore, there is a distinguished process, called root, that may be reached from any other process by following the successor relation at each hop. Thus, under the successor relation, the processes are arranged as a directed...

It is well-known that exponential stabilization of a neutral system with unstable diierence operator is only possible by allowing for control laws containing derivative feedback. We show that closed-loop stability of a neutral system with unstable open-loop diierence operator obtained by applying a derivative feedback scheme is extremely sensitive to arbitrarily small time-delays in the feedbac...

The paper studies the properties of a sinusoidally vibrating wedge billiard as a model for 2D impact juggling. It is shown that some periodic orbits that are unstable in the elastic fixed wedge become exponentially stable in the (non-)elastic vibrating wedge. These orbits are linked with some classical juggling patterns, providing an interesting benchmark for the study of the frequency-locking ...

This paper presents the development of a nonlinear quadrotor simulation framework together with a nonlinear controller. The quadrotor stabilization and navigation problems are tackled using a nested loops control architecture. A nonlinear Backstepping controller is implemented for the inner stabilization loop. It asymptotically tracks reference attitude, altitude and heading trajectories. The o...

This research applied an intelligent controller for mobile satellite antenna tracking system design. The intelligent controller is with both the traditional PI and the fuzzy control methods. The antenna tracking and the stabilization loops were designed firstly according to the bandwidth and phase margin requirements. However, the performance would be degraded if the tacking loop gain is reduce...

In this paper, the problem of stabilizing an open-loop unstable second-order system with time delay is considered. A constant feedback gain is utilized to stabilize the system. Using a modified version of Hermite-Biehler Theorem, which is applicable to quasi-polynomialsthe complete set of stabilizing constant feedback gains for open-loop unstable plants, is determined. The desired closed-loop p...

Reliable stabilization with integral action is studied in the linear, time-invariant, multi-input, multioutput, twuchannel decentralized control system, where the plant is stable. The objective is to achieve closed-loop stability when both controllers act together and when each controller acts alone. Necessary and sufficient conditions are obtained for existence of block-diagonal decentralized ...

The robust stabilization is studied for two dimensions discrete time singular systems described by the second FornasiniMarchesini models (2-D SFMMII) with uncertainty parameters. A new sufficient condition of the robust stabilization of 2-D SFMM-II is presented. Based on this new criterion a desired state feedback controller can be constructed by solving a set of linear matrix inequality (LMI) ...