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11 years 2 months ago
Set-Membership Fuzzy Filtering for Nonlinear Discrete-Time Systems
This paper is concerned with the set-membership filtering (SMF) problem for discrete-time nonlinear systems. We employ the Takagi
Fuwen Yang, Yongmin Li
228views Control Systems» more  CDC 2010»
11 years 3 months ago
Fundamental performance limitations with Kullback-Leibler control cost
This research concerns fundamental performance limitations in control of discrete time nonlinear systems. The fundamental limitations are expressed in terms of the average cost of ...
Sun Yu, Prashant G. Mehta
132views more  IJRR 2010»
11 years 5 months ago
LQR-trees: Feedback Motion Planning via Sums-of-Squares Verification
Advances in the direct computation of Lyapunov functions using convex optimization make it possible to efficiently evaluate regions of attraction for smooth nonlinear systems. Her...
Russ Tedrake, Ian R. Manchester, Mark Tobenkin, Jo...
126views Robotics» more  ICRA 2010»
11 years 6 months ago
Simulation-based LQR-trees with input and state constraints
— We present an algorithm that probabilistically covers a bounded region of the state space of a nonlinear system with a sparse tree of feedback stabilized trajectories leading t...
Philipp Reist, Russ Tedrake
101views more  MP 2002»
11 years 7 months ago
Componentwise fast convergence in the solution of full-rank systems of nonlinear equations
The asymptotic convergence of parameterized variants of Newton's method for the solution of nonlinear systems of equations is considered. The original system is perturbed by a...
Nicholas I. M. Gould, Dominique Orban, Annick Sart...
95views more  AUTOMATICA 2002»
11 years 8 months ago
Series expansions for analytic systems linear in control
This paper presents a series expansion for the evolution of a class of nonlinear systems characterized by constant input vector fields. We present a series expansion that can be c...
Francesco Bullo
108views more  SCL 2008»
11 years 8 months ago
On input-to-state stability of min-max nonlinear model predictive control
In this paper we consider discrete-time nonlinear systems that are affected, possibly simultaneously, by parametric uncertainties and disturbance inputs. The min-max Model Predict...
Mircea Lazar, David Muñoz de la Peña...
73views more  AUTOMATICA 2006»
11 years 8 months ago
Robust MPC of constrained discrete-time nonlinear systems based on approximated reachable sets
A robust MPC for constrained nonlinear systems with uncertainties is presented. Outer bounds of the reachable sets of the system are used to predict the evolution of the system un...
J. M. Bravo, T. Alamo, Eduardo F. Camacho
113views more  AUTOMATICA 2007»
11 years 8 months ago
Asymptotic rejection of unknown sinusoidal disturbances in nonlinear systems
This paper deals with global disturbance rejection of nonlinear systems. The disturbance is assumed to be sinusoidal with completely unknown phases, amplitude, and frequencies, bu...
Zhengtao Ding
142views more  AUTOMATICA 2007»
11 years 8 months ago
Lyapunov-based switching control of nonlinear systems using high-gain observers
Abstract— We consider dynamic output feedback practical stabilization of uniformly observable nonlinear systems, based on high-gain observers with saturation. We assume that unce...
Leonid B. Freidovich, Hassan K. Khalil