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Adaptive and Distributed Coordination Algorithms for Mobile Sensing Networks
Consider n sites evolving within a convex polygon according to one of the following interaction laws: (i) each site moves away from the closest other...
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Flocking in Teams of Nonholonomic Agents
The motion of a group of nonholonomic mobile agents is synchronized using local control laws. This synchronization strategy is inspired by the early...
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6 Stochastic Passivity
Passivity of deterministic linear systems plays an important role in network theory and in adaptive control. The fact that a system is passive...
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4 Continuous-time Systems: Tracking Control
In this chapter we treat the problem of H∞ tracking with stochastic multiplicative white noise. We extend the work of [98], which does not involve...
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7 Conclusions
Gyrover is a novel concept for mobility that has distinct advantages over conventional, statically stable vehicles. The concept has been veri.ed with...
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6 Shared Control
Based on the successful implementations of the lateral balancing and tiltup motion, in this chapter, we are going to develop a shared control...
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4 Compositional Modelling of Distributed-Parameter Systems
The Hamiltonian formulation of distributed-parameter systems has been a challenging reserach area for quite some time. (A nice introduction,...
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C Appendix: The Discrete DLMI Method
We consider the following system: $$ x_{k+1}=A_kx_k + B_k w_k, \quad k=0,1,...
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An $\mathcal{H}_\infty$ Loop-Sha** Approach to Steering Control for High-Performance Motorcycles
A fixed-parameter active steering compensation scheme that is designed to improve the dynamic behaviour of high-performance motorcycles is...
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Control of High-Speed Underwater Vehicles
I (GB) was fortunate that early in my career I had the opportunity to work with Keith Glover. Keith had just begun his obsession with golf. A simple...
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Regulating Cell Shape During Cytokinesis
During cytokinesis, the last step in cell division, cells must rearrange their shape so as to produce two daughter cells of equal size. To this end,...
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Experiment Design for Robust Control: Why Do More Work Than Is Needed?
Optimal input design for system identi.cation was an active area of research in the 1970’s, with different quality measures of the identified model...
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Model Reduction of Strongly Stable Nonstationary LPV Systems
This paper deals with the model reduction of nonstationary linear parametervarying (NLPV) systems. Our interest in LPV models is motivated by the...
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Review of Multivariable Control Applied to the VAAC Harrier and Remaining Open Questions
In the early nineties, a multivariable flight control law, designated FCL005, was developed for the Defence Evaluation and Research Agency (DERA),...
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An Approximate Dynamic Programming Approach to Decentralized Control of Stochastic Systems
We consider the problem of computing decentralized control policies for stochastic systems with finite state and action spaces. Synthesis of optimal...
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Sample Reuse Techniques for Probabilistic Robust Control
Sample reuse techniques have significantly reduced the numerical complexity of probabilistic robustness analysis. Existing results show that for a...
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Past, Present and Future of Automotive Control
This paper contains a survey of the application of control systems theory to automotive systems. For this application field, the most useful modeling...
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Robustly Stabilizing Controllers with Internal Loop
The problem of robust stabilization with respect to left coprime factor perturbations was first solved explicity for the rational case in Glover and...
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A On the Literature’s Two Different Definitions of Uniform Global Asymptotic Stability for Nonlinear Systems
In this appendix we discuss two different deffnitions of uniform global asymptotic stability (UGAS), both used in the literature. In the first one,...
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6. Kinematic Control of UVMSs
A robotic system is kinematically redundant when it possesses more degrees of freedom than those required to execute a given task. A generic...