A Matrosov theorem with an application to Model Reference Adaptive Control via approximate (2009)
discrete-time models
Results on relaxation theorems for hybrid systems (2008)
Chaohong Cai, Andrew R. Teel, Rafal Goebel
states that the solution set of a locally Lipschitz differential inclusion is dense in the solution set of its convexified differential inclusion in the uniform metric on compact time intervals. For...
Stability of Delay Impulsive Systems with Application to Networked Control Systems (2008)
Payam Naghshtabrizi, João P. Hespanha, Andrew R. Teel
Abstract — We establish asymptotic and exponential stability theorems for delay impulsive systems by employing Lyapunov functionals with discontinuities. Our conditions have the property that when...
Hybrid Systems Techniques for Convergence of Solutions to Switching Systems (2008)
Rafal Goebel, Ricardo G. Sanfelice, Andrew R. Teel
Invariance principles for hybrid systems are used to derive invariance principles for nonlinear switching systems with multiple Lyapunov-like functions. Dwell-time, persistent dwell-time, and weak...
Nonlinear Stabilization of a Spherical Particle Trapped in an Optical Tweezer (2008)
Aruna Ranaweera, Bassam Bamieh, Andrew R. Teel
Abstract — We describe the nonlinear equations of motion of a spherical particle trapped in an optical tweezer and outline the use of nonlinear feedback control to achieve global asymptotic...
Results on Converse Lyapunov Theorems for Difference Inclusions (2008)
We present new results on the existence of Lyapunov functions for discrete-time systems described by difference inclusions that are stable with respect to two measures. Specifically, the existence of...
Results on Discrete-Time Control-Lyapunov Functions (2008)
We demonstrate the existence of a smooth control-Lyapunov function (CLF) for difference equations asymptotically controllable to closed sets. This follows from a more general result on the existence...
In this paper we address and solve the problem of anti-windup augmentation for linear systems with input and output delay. In particular, we give a formal definition of an optimal L2 gain based...
Stabilization of Sets Parametrized by a Single Variable: Application to Ship Maneuvering (2008)
Roger Skjetne, Andrew R. Teel, Petar V. Kokotović
We consider the problem of stabilizing sets parametrized by a single variable. Our approach is based on the solution to the maneuvering problem. In this problem, the state of the system is driven to...
Contro l of Linear System s w ith Saturating Actuators (2007)
Ali Saberi Zongli, Ali Saberi, Zongli Lin, Andrew R. Teel
This paper deals with the design of linear systems with saturating actuators where the actuator limitations have to be incorporated a priori into control design. We take a semi-global approach to...
On preservation of dissipation inequalities under (2007)
Dragan Nesic, Dina S. Laila, Andrew R. Teel
sampling
Exponential stability of impulsive systems with application to uncertain sampled-data systems (2007)
Optimization-Based Robust Nonlinear Control (2006)
New control algorithms were developed for robust stabilization of nonlinear dynamical systems. Novel, linear matrix inequality-based synthesis algorithms were developed for the anti-windup problem....
Teel “Summability criteria for stability of sets for sampled-data nonlinear inclusions (2006)
Antonio Loría, Elena Panteley, Andrew R. Teel
Abstract — We present sufficient conditions for stability of parameterized difference inclusions that involve various summability criteria on functions of the trajectories of the system, to...
Stochastic impulsive systems driven by renewal processes (2005)
João P. Hespanha, Andrew R. Teel
Abstract — Stochastic impulsive systems are defined by a diffusion process with jumps triggered by a renewal process, i.e., the intervals between jumps are independent and identically distributed....
On hybrid controllers that induce input-to-state stability with respect to measurement noise (2005)
Ricardo G. Sanfelice, Andrew R. Teel
For a class of nonlinear systems affine in controls and with unknown high frequency gain, we develop a hybrid control strategy that guarantees (practical) global input-to-state stability (ISS) with...
Stochastic impulsive systems driven by renewal processes (2005)
João P. Hespanha, Andrew R. Teel
Abstract — Stochastic impulsive systems are defined by a diffusion process with jumps triggered by a renewal process, i.e., the intervals between jumps are independent and identically distributed....
Hybrid systems: Generalized solutions and robust stability (2004)
Rafal Goebel, Joao Hespanha, Andrew R. Teel, Chaohong Cai, Ricardo Sanfelice
Abstract: Robust asymptotic stability for hybrid systems is considered. For this purpose, a generalized solution concept is developed. The first step is to characterize a hybrid time domain that...
Stability regions for saturated linear systems via conjugate lyapunov functions (2004)
Tingshu Hu, Zongli Lin, Rafal Goebel, Andrew R. Teel
Abstract — We use a recently developed duality theory for linear differential inclusions (LDIs) to enhance the stability analysis of systems with saturation. Based on the duality theory, the...
Hybrid Systems: Generalized (2004)
Solutions And Robust, Rafal Goebel, Joao Hespanha, Andrew R. Teel, Chaohong Cai, Ricardo Sanfelice
Robust asymptotic stability for hybrid systems is considered. For this purpose, a generalized solution concept is developed. The first step is to characterize a hybrid time domain that permits an...
Teel, Andrew R., Loria, Antonio, Panteley, Elena, Popovic, Dobrivoje
We present a new result on uniform attractivity of the origin for nonlinear time-varying systems. Our theorem generalizes Matrosov's theorem which extends, in a certain manner, Krasovskii-LaSalle...
Global stabilizaton with improved performance for linear systems with actuator saturation (2003)
Reginatto,Romeu, Teel,Andrew R., De Pieri,Edson R.
This paper deals with the global stabilization problem of linear systems with saturating actuators. Global stabilization is achieved by scheduling a parameterized control law constructed from a...
Persistency of excitation for uniform convergence in nonlinear control systems (2003)
Loria, Antonio, Panteley, Elena, Popovic, Dobrivoje, Teel, Andrew R.
In previous papers we have introduced a sufficient condition for uniform attractivity of the origin for a class of nonlinear time-varying systems which is stated in terms of persistency of excitation...
Extremum seeking methods for optimization of variable cam timing engine operation (2003)
Dobrivoje Popović, Mrdjan Janković, Steve Magner, Andrew R. Teel
Abstract—Automotive engines have been increasingly equipped with devices that can vary engine parameters with operating conditions. Optimizing these parameters via standard engine mapping and...
On robustness of stability and Lyapunov functions for discontinuous difference equations (2002)
Christopher M. Kellett, Andrew R. Teel
We demonstrate that strong global asymptotic stability (GAS) of the origin for an upper semicontinuous difference inclusion is equivalent to the existence of a smooth Lyapunov function. This result...
Robust Nonlinear Control of Tailless Fighter Aircraft (2000)
Tools that lead to effective control strategies for tailless fighter aircraft were developed. Emphasis was placed on the development of control algorithms that yield robust performance in the...
Abstract. We consider differential inclusions where a positive semidefinite function of the solutions satisfies a class-KL estimate in terms of time and a second positive semidefinite function of the...
We consider differential inclusions where a positive semidefinite function of the solutions satisfies a class-KL estimate in terms of time and a second positive semidefinite function of the initial...
Kenan Ezal, Petar V. Kokotovich, Andrew R. Teel, Tamer Basar
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Robust Nonlinear Control of Tailless Aircraft (1998)
The objective of this research was to develop tools leading to effective control strategies for tailless fighter aircraft. Emphasis was placed on the development of control algorithms that yield...
Robust Nonlinear Control of Piloted Tailless Fighters (1998)
Tools leading to effective control strategies for tailless fighter aircraft were developed. Emphasis was placed on the development of control algorithms that yield robust performance in the presence...
Applied Nonlinear Control Design (1998)
New stability analysis tools and high performance control strategies were developed for nonlinear systems. Robust, high performance anti-windup algorithms were produced. New, comprehensive nonlinear...
Zongli Lin, Ali Saberi, Andrew R. Teel
We consider the almost disturbance decoupling problem (ADDP) and/or almost D- bounded disturbance decoupling problem ((ADDP)D ) with internal stability for linear systems subject to input saturation...
Control of Linear Systems with Saturating Actuators (1996)
Ali Saberi, Zongli Lin, Andrew R. Teel
This paper deals with the design of linear systems with saturating actuators where the actuator limitations have to be incorporated a priori into control design. We take a semi-global approach to...
Zongli Lin, Ali Saberi, Andrew R. Teel
We consider the problem of simultaneous finite gain L p -stabilization and internal stabilization of linear systems subject to input saturation via linear static state feedback. We show that bounded...