In this article a distributed control law for the full- and partial-state synchronization of possibly exponentially unstable linear heterogeneous multi-agent systems is presented. The design is based on the estimation...
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This paper deals with the design of robust fault detection and isolation observers where only a single observer is employed to isolate different faults. To this end, the problem of parameterizing such observers is sho...
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In this article, a linear matrix inequality (LMI)-based design for robust fault isolation observers (FIOs) for linear systems with arbitrary fault detectability indices is presented. A parametric design is used to ach...
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In this article a global method for master-slave synchronization of nonlinear systems is provided. Based on a diffeomorphic transformation of the original dynamics, a reduced observer is designed such that the nonline...
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We propose a new set point tracking controller for plants subject to simultaneous input amplitude and rate constraints. Short settling times are achieved by allowing the controller to saturate. The tracking controller...
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A new method for fast and efficient modeling of nioviiig obstacles in the 3-dimensional configuration-space (c-space) of a multi-link robot is discussed. The method is based on a look-up-Table, which contains the conn...
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This paper proposes a local and - in contrast to existing synthesis approaches - non-iterative and performance-oriented design method for linear, full-order, mismatch-based anti-windup compensators which is applicable...
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The main aspect in multi-robot exploration is the efficient coordination of a group of robots. Inspired by previous results on the coverage problem, we propose a novel, frontier-based approach for multi-robot explorat...
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In this paper, we propose two variants of adaptive state space controllers for attitude stabilization and self-tuning of a four-rotor aerial robot, a quadrotor. First of all, the use of a Model Identification Adaptive...
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This paper proposes a new design method for full-order mismatch-based anti-windup compensators applicable to SISO systems. It is based on multiplier theory and path following. In contrast to available approaches the n...
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