This paper investigates the necessary conditions of optimality for uniformly overtaking optimal control on infinite horizon with free right endpoint. Clarke’s form of the Pontryagin Maximum Principle is proved without the assumption on boundedness of total variation of adjoint variable. The transversality condition for adjoint variable is shown to become necessary if the adjoint variable is par...

In this paper, discrete-time switched linear systems affected by both parameter variations and exterior disturbances are considered. The problem of synthesis of switching control laws, which assure that the system state is ultimately bounded within a given compact set containing the origin with an assigned rate of convergence, is investigated. The method is based on set-induced Lyapunov functio...

The robustness and convergence of P-type learning control algorithms for a class of time-varying, nonlinear systems to state disturbances, measurement noise at the output, and reinitialization errors at each iteration is studied extensively. We prove the uniform boundedness of the system states with respect to the existence of errors of initialization, measurement noises and fluctuations of sys...

The paper addresses the obstacle avoidance motion planning problem for ground vehicles operating in uncertain environments. By resorting to set-theoretic ideas, a receding horizon control algorithm is proposed for robots modelled by linear time-invariant (LTI) systems subject to input and state constraints and disturbance effects. Sequences of inner ellipsoidal approximations of the exact one-s...

This paper is concerned with the observer designing problem for a class of uncertain delayed nonlinear systems using reinforcement learning. Reinforcement learning is used via two Wavelet Neural networks (WNN), critic WNN and action WNN, which are combined to form an adaptive WNN controller. The “strategic” utility function is approximated by the critic WNN and is minimized by the action WNN. A...

In this paper, a new robust feedback controller for trajectory control of n-link robot manipulators under parametric uncertainties is suggested. The proposed controller using dynamic compensation scheme leads to improvement in the transient response and fast convergence of tracking error to a neighborhood of zero in the steady-state. The uniformly ultimate boundedness of the closed-loop system ...

In this paper a novel set-theoretic control framework for Networked Constrained Cyber-Physical Systems is presented. By resorting to set-theoretic ideas and the physical watermarking concept, an anomaly detector module and a control remediation strategy are formally derived with the aim to contrast severe cyber attacks affecting the communication channels. The resulting scheme ensures Uniformly...

Cooperative attitude regulation and tracking problems are discussed in the presence of multiple time-varying communication delays and dynamically changing topologies. In the case of cooperative attitude regulation, we propose conditions to guarantee the stability of the closed-loop system when there exist multiple time-varying communication delays. In the case of cooperative attitude tracking, ...

In this paper, a new kind of nonmontone line search method which is called new hybrid projection method with perturbations is proposed. At the same time, global convergence of this kind of method is proved only in the case where the gradient function is uniformly continuous on an open convex set containing the iteration sequence. In doing so, we remove various boundedness conditions. Furthermor...

In this note we propose a controller that solves the problem of coordination of two (or more) robots, under a master-slave scheme, in the case when only position measurements are available. The controller consists of a feedback control law, and two nonlinear observers. It is shown that the controller yields ultimate uniformly boundedness of the closed loop errors, and a relation between this bo...