This paper deals with the decentralized control of an interconnected system, where each subsystem has models of all other subsystems (subject to uncertainty). A decentralized controller is constructed based on a reference centralized controller. It is shown that when a priori knowledge of each subsystem about the other subsystems’ models is exact, then the decentralized closed-loop system can p...

In this paper we develop a theory of stabilizing singleinput nonlinear affine systems using quantized feedback. We construct a stabilizing quantizer based on a control Lyapunov function (CLF), and a robustly stabilizing quantizer based on a robust control Lyapunov function (RCLF). We characterize the coarsest quantizer under certain conditions. The special features of several classes of nonline...

Surveillance missions for multiple autonomous underwater vehicle (AUV) system suggest the use of different modes of operation including organizing and keeping a predefined formation, avoiding obstacles, reaching static and tracking dynamic targets. While exploiting a leader-follower strategy to formation control and the vector Lyapunov function method to controller design, we use discrete-event...

We develop nonsmooth optimization techniques to solve H∞ synthesis problems under additional structural constraints on the controller. Our approach avoids the use of Lyapunov variables and therefore leads to moderate size optimization programs even for very large systems. The proposed framework is very versatile and can accommodate a number of challenging design problems including static, fixed...

We present a scheme for the determination of control Lyapunov functions which can be used as a basis for numerical computations. Under the assumption of local asymptotic nullcontrollability we de ne the domain of asymptotic nullcontrollability. On this set a control Lyapunov function is de ned via an optimal control problem. It is then shown that this function can be characterized as the unique...

This paper investigates the automatic berthing problem of underactuated surface vessels in case uncertain dynamics and yaw rate limitation, given importance control unmeasurable hydrodynamic parameters vessel at low speeds. First, we use differential homeomorphism coordinate transformation to solve underactuation. Second, a radial basis function network (RBF) is introduced approximate unknown n...

In the paper presents a brief survey of some new developments in Lyapunov’s approach including the generalized perturbation equation and its applications; the use of nonanalytic Lyapunov functions; an extension of the Barbashin-Krasovskii theorem related to asymptotic stability assured by a Lyapunov function with nonpositive derivative; the consistency condition for a time-space mosaic that con...