This paper considers the problem of distributed control of rigid formation shapes in the plane for multiagent systems. A constructive perturbation method is proposed and combined with the conventional gradient control law. The proposed control law stabilizes the desired rigid formation in a global sense for all initial conditions except the casewhen a pair of communicating agents happen to have...

Adaptive controllers are used in systems where one or more parameters are unknown. Such controllers are designed to stabilize the system using an estimate for the unknown parameters that is adapted automatically as part of the stabilization. One drawback in adaptive control design is the possibility that the closed-loop limit system is not stable. The worst situation is the existence of a desta...

A novel real-time final product quality control strategy for batch operations is presented. Quality control is achieved by periodically predicting the final product quality and adjusting process variables at prespecified decision points. This data-driven methodology employs multiple models, one for each decision point, to capture the time-varying relationships. Thesemodels combine real-time bat...

In this paper we will study three hypotheses proposed by L. I. Rozonoer [1] in optimal control theory in order to derive conditions for the existence of an optimal control under all initial conditions, and the relationships between Pontryagin maximum principle and the dynamic programming method.

The attainable sets of the nonlinear control systems with integral constraint on the control functions are considered. It is assumed that the behavior of control system is described by a differential equation which is nonlinear with respect to phase-state vector and control vector. The admissible control functions are chosen from the closed ball centered at the origin with radius μ0 in Lp t0, θ...

For indirect adaptive fuzzy ∞ H tracking control (AFHC) of perturbed uncertain nonlinear systems, slidingmode control (SMC) compensation usually has to be applied to ensure stability and ∞ H robustness of the closed-loop system. We prove that indirect AFHC without SMC compensation is sufficient to guarantee stable ∞ H tracking under given initial conditions and parameter constraints. The contro...

We consider a Bolza optimal control problem with state constraints. It is well known that under some technical assumptions every strong local minimizer of this problem satisfies first order necessary optimality conditions in the form of a constrained maximum principle. In general, the maximum principle may be abnormal or even degenerate and so does not provide a sufficient information about opt...

This work presents an application of the previously proposed Support Vector Machines Based Generalized Predictive Control (SVM-Based GPC) method [1] to the problem of controlling chaotic dynamics with small parameter perturbations. The Generalized Predictive Control (GPC) method, which is included in the class of Model Predictive Control, necessitates an accurate model of the plant that plays v...