6 papers
Extremum Seeking Control for Wave-PDE Actuation with Distributed Effects
Elisio Juvenal Muchave, Pedro Henrique Silva Coutinho, Tiago Roux Oliveira +1
This paper deals with the gradient-based extremum seeking control (ESC) with actuation dynamics governed by distributed wave partial differential equations (PDEs). To achieve the c…
Nonholonomic Robot Parking by Feedback -- Part II: Nonmodular, Inverse Optimal, Adaptive, Prescribed/Fixed-Time and Safe Designs
Kwang Hak Kim, Velimir Todorovski, Miroslav Krstić
For the unicycle system, we provide constructive methods for the design of feedback laws that have one or more of the following properties: being nonmodular and globally exponentia…
Multivariable Gradient-Based Extremum Seeking Control with Saturation Constraints
Enzo Ferreira Tomaz Silva, Pedro Henrique Silva Coutinho, Tiago Roux Oliveira +2
This paper addresses the multivariable gradient-based extremum seeking control (ESC) subject to saturation. Two distinct saturation scenarios are investigated here: saturation acti…
Half-Global Deadbeat Parking for Dubins Vehicle
Miroslav Krstić, Kwang Hak Kim, Velimir Todorovski
This paper presents a framework for stabilizing the Dubins vehicle model to zero in finite time (deadbeat parking) by interpreting distance as a time-like variable. We develop cont…
Inverse Optimal Feedback and Gain Margins for Unicycle Stabilization
Kwang Hak Kim, Velimir Todorovski, Miroslav Krstić
The recent development of globally strict control Lyapunov functions (CLFs) for the challenging unicycle parking problem provides a foundation for pursuing optimality. We address t…
Stabilization of Age-Structured Competing Populations
Carina Veil, Miroslav Krstić, Patrick McNamee +1
Age-structured models capture the dynamic behavior of populations over time and result in nonlinear integro-partial differential equations (IPDEs). These processes arise in various…