This paper presents a novel stabilizing nonlinear PID controller with real time experimental validation on a gantry crane system. Our adaptive control technique describes the underactuated system as a nonlinear mappin...
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The insistence of this paper is to design Fractional order-proportional Integral Derivative (FO-PID) and Integral order -Proportional Integral Derivative (IO-PID) controllers for trajectory tracking control of Twin ro...
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In this note we study contractivity of monotone systems and exponential convergence of positive systems using non-Euclidean norms. We first introduce the notion of conic matrix measure as a framework to study stabilit...
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The design of fixed point algorithms is at the heart of monotone operator theory, convex analysis, and of many modern optimization problems arising in machine learning and control. This tutorial reviews recent advance...
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The basic reproduction number R0 is a fundamental quantity in epidemiological modeling, reflecting the typical number of secondary infections that arise from a single infected individual. While R0is widely known to sc...
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In an attempt to provide an efficient method for line disturbance identification in complex networks of diffusively coupled agents, we recently proposed to leverage the frequency mismatch . The frequency mismatch filt...
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In an attempt to provide an efficient method for line disturbance identification in complex networks of diffusively coupled agents, we recently proposed to leverage the frequency mismatch . The frequency mismatch filters out the intricate combination of interactions induced by the network structure and quantifies to what extent the trajectory of each agent is affected by the disturbance. In this previous work, we provided some analytical evidence of its efficiency when the perturbation is assumed to be slow . In the present work, we claim that the frequency mismatch performs actually well for most disturbance regimes. This is shown through a series of simulations and is backed up by an analytical argument. Therefore, we argue that the frequency mismatch is an efficient and elegant tool for line disturbance location in complex networks of diffusively coupled agents.
One DOF (degree of freedom) Twin Rotor multi-input multi-output system (TRMS) is one of the benchmarked dynamicalsystems which has striking comparability with Helicopter. Design of controllers for such complex air ve...
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dynamicalsystems that are contracting on a subspace are said to be semicontracting. Semicontraction theory is a useful tool in the study of consensus algorithms and dynamical flow systems such as Markov chains. To de...
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We address the problem of finding a local solution to a nonconvex-nonconcave minmax optimization using Newton type methods, including primal-dual interior-point ones. The first step in our approach is to analyze the l...
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Linear PID controllers are commonly used as an electrical component to decrease the error between anticipated set value and actual measured values for control of various benchmarked systems. The Multi-Loop Linear PID ...
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