Control Design for a Class of Nonholonomic Systems Via Reference Vector Fields and Output Regulation

2015 ◽  
Vol 137 (8) ◽  
Author(s):  
Dimitra Panagou ◽  
Herbert G. Tanner ◽  
Kostas J. Kyriakopoulos
Keyword(s):  
Vector Field ◽  
Vector Fields ◽  
Nonholonomic Systems ◽  
Output Regulation ◽  
Reference Vector ◽  
Constraint Matrix ◽  
Nonholonomic Control ◽  
System States ◽  
Induced Decomposition ◽  
Output Regulation Problem

This paper presents procedural guidelines for the construction of discontinuous state feedback controllers for driftless, kinematic nonholonomic systems, with extensions to a class of dynamic nonholonomic systems with drift. Given an n-dimensional kinematic nonholonomic system subject to κ Pfaffian constraints, system states are partitioned into “leafwise” and “transverse,” based on the structure of the Pfaffian constraint matrix. A reference vector field F is defined as a function of the leafwise states only in a way that it is nonsingular everywhere except for a submanifold containing the origin. The induced decomposition of the configuration space, together with requiring the system vector field to be aligned with F, suggests choices for Lyapunov-like functions. The proposed approach recasts the original nonholonomic control problem as an output regulation problem, which although nontrivial, may admit solutions based on standard tools.

Output regulation for switched discrete-time systems with output signal quantization

2021 ◽  
pp. 014233122198988
Author(s):  
Yaoli Zhang ◽  
Jun Zhao
Keyword(s):  
Discrete Time ◽  
Pulse Width ◽  
Pulse Width Modulation ◽  
Output Regulation ◽  
Feedback Controllers ◽  
Signal Quantization ◽  
Discrete Time Systems ◽  
Output Regulation Problem ◽  
Time Systems ◽  
Coordinates Transformation

This paper investigates the output regulation problem for switched discrete-time systems with output quantization. We adopt the quantized output in feedback controllers and allow each subsystem to have its own quantization density, so that the communication network can be efficiently utilized. By using the different coordinates transformation, the solvability of the output regulation problem is guaranteed under deigned output feedback controllers with the switching signals satisfying a dwell time constraint. In the simulation, a pulse-width modulation driven boost converter model is employed to validate the result.

scholarly journals Pairings between bounded divergence-measure vector fields and BV functions

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Graziano Crasta ◽  
Virginia De Cicco ◽  
Annalisa Malusa
Keyword(s):  
Vector Field ◽  
Conservation Laws ◽  
Bounded Variation ◽  
Vector Fields ◽  
Hyperbolic Conservation Laws ◽  
Divergence Measure ◽  
Compensated Compactness ◽  
Hyperbolic Conservation ◽  
Bv Functions ◽  
Bounded Functions

AbstractWe introduce a family of pairings between a bounded divergence-measure vector field and a function u of bounded variation, depending on the choice of the pointwise representative of u. We prove that these pairings inherit from the standard one, introduced in [G. Anzellotti, Pairings between measures and bounded functions and compensated compactness, Ann. Mat. Pura Appl. (4) 135 1983, 293–318], [G.-Q. Chen and H. Frid, Divergence-measure fields and hyperbolic conservation laws, Arch. Ration. Mech. Anal. 147 1999, 2, 89–118], all the main properties and features (e.g. coarea, Leibniz, and Gauss–Green formulas). We also characterize the pairings making the corresponding functionals semicontinuous with respect to the strict convergence in \mathrm{BV}. We remark that the standard pairing in general does not share this property.

scholarly journals The geometry of null-like disformal transformations

2019 ◽  
Vol 16 (11) ◽  
pp. 1950180 ◽  
Author(s):  
I. P. Lobo ◽  
G. G. Carvalho
Keyword(s):  
Vector Field ◽  
Conformal Transformation ◽  
Vector Fields ◽  
Killing Vector ◽  
Killing Vector Fields ◽  
Spinor Structure ◽  
Schwarzschild Metric ◽  
Killing Vectors ◽  
Symmetry Properties ◽  
Geometric Objects

Motivated by the hindrance of defining metric tensors compatible with the underlying spinor structure, other than the ones obtained via a conformal transformation, we study how some geometric objects are affected by the action of a disformal transformation in the closest scenario possible: the disformal transformation in the direction of a null-like vector field. Subsequently, we analyze symmetry properties such as mutual geodesics and mutual Killing vectors, generalized Weyl transformations that leave the disformal relation invariant, and introduce the concept of disformal Killing vector fields. In most cases, we use the Schwarzschild metric, in the Kerr–Schild formulation, to verify our calculations and results. We also revisit the disformal operator using a Newman–Penrose basis to show that, in the null-like case, this operator is not diagonalizable.

Systems of differential equations that are competitive or cooperative. VI: A localCrClosing Lemma for 3-dimensional systems

1991 ◽  
Vol 11 (3) ◽  
pp. 443-454 ◽  
Author(s):  
Morris W. Hirsch
Keyword(s):  
Vector Field ◽  
Positive Integer ◽  
Differential Equations ◽  
Vector Fields ◽  
3 Dimensional ◽  
Planar Surfaces ◽  
Systems Of Differential Equations ◽  
Nonwandering Point

AbstractFor certainCr3-dimensional cooperative or competitive vector fieldsF, whereris any positive integer, it is shown that for any nonwandering pointp, every neighborhood ofFin theCrtopology contains a vector field for whichpis periodic, and which agrees withFoutside a given neighborhood ofp. The proof is based on the existence of invariant planar surfaces throughp.

SINGULAR CYCLES AND Ck-ROBUST TRANSITIVE SET ON MANIFOLD WITH BOUNDARY

2011 ◽  
Vol 13 (02) ◽  
pp. 191-211 ◽  
Author(s):  
D. CARRASCO-OLIVERA ◽  
C. A. MORALES ◽  
B. SAN MARTÍN
Keyword(s):  
Vector Field ◽  
Vector Fields ◽  
Manifold With Boundary ◽  
Transitive Set ◽  
Singular Cycle ◽  
Hyperbolic Equilibrium

Let M be a 3-manifold with boundary ∂M. Let X be a C∞, vector field on M, tangent to ∂M, exhibiting a singular cycle associated to a hyperbolic equilibrium σ∈∂M with real eigenvalues λss < λs < 0 < λu satisfying λs - λss - 2λu > 0. We prove under generic conditions and k large enough the existence of a Ck robust transitive set of X, that is, any Ck vector field Ck close to X exhibits a transitive set containing the cycle. In particular, C∞ vector fields exhibiting Ck robust transitive sets, for k large enough, which are not singular-hyperbolic do exist on any compact 3-manifold with boundary.

FINDING PARAMETERS FOR CHUA’S OSCILLATOR WHICH IS TOPOLOGICALLY CONJUGATE TO SYSTEMS WITH A SCALAR NONLINEARITY

1995 ◽  
Vol 05 (03) ◽  
pp. 895-899 ◽  
Author(s):  
CHAI WAH WU ◽  
LEON O. CHUA
Keyword(s):  
Vector Field ◽  
Large Class ◽  
Vector Fields ◽  
Colpitts Oscillator ◽  
Chua’S Oscillator ◽  
Scalar Nonlinearity

Chua’s oscillator is topologically conjugate to a large class of vector fields with a scalar non-linearity. In this letter, we give an algorithm which, given a vector field in this class, finds the parameters for Chua’s oscillator for which Chua’s oscillator is topologically conjugate to it. We illustrate this by transforming Sparrow’s system and the chaotic Colpitts oscillator into equivalent Chua’s oscillators.

Twisted Sasakian Metric on the Tangent Bundle and Harmonicity

2021 ◽  
Vol 62 ◽  
pp. 53-66
Author(s):  
Fethi Latti ◽  
◽  
Hichem Elhendi ◽  
Lakehal Belarbi
Keyword(s):  
Riemannian Manifold ◽  
Vector Field ◽  
Tangent Bundle ◽  
Vector Fields ◽  
Sufficient Conditions ◽  
Harmonic Vector ◽  
New Class ◽  
Necessary And Sufficient ◽  
Sasakian Metric ◽  
Harmonic Vector Fields

In the present paper, we introduce a new class of natural metrics on the tangent bundle $TM$ of the Riemannian manifold $(M,g)$ denoted by $G^{f,h}$ which is named a twisted Sasakian metric. A necessary and sufficient conditions under which a vector field is harmonic with respect to the twisted Sasakian metric are established. Some examples of harmonic vector fields are presented as well.

Output regulation of output feedback systems with unknown exosystem and unknown high-frequency gain sign

2016 ◽  
Vol 40 (1) ◽  
pp. 171-178 ◽  
Author(s):  
Meichen Guo ◽  
Lu Liu
Keyword(s):  
Output Feedback ◽  
High Frequency ◽  
Adaptive Controller ◽  
Output Regulation ◽  
Design Approach ◽  
Feedback Systems ◽  
Unknown Parameters ◽  
Robust Output Regulation ◽  
Matching Design ◽  
Output Regulation Problem

This paper discusses the global robust output regulation problem for a class of nonlinear output feedback systems. It is assumed that the exosystem and the high-frequency gain sign are unknown and that the unknown parameters can be arbitrarily large. To solve this problem, two major challenges are to be overcome. First, the concurrence of the unknown exosystem and the unknown high-frequency gain sign cannot be handled merely by designing estimators for the two unknown parameters respectively. Second, the conventional extended matching design approach cannot be directly implemented, owing to the arbitrarily large unknown parameters. To cope with these difficulties, a new estimator is developed, and the extended matching design approach is modified to obtain a suitable update law for the estimator. The effectiveness of the proposed adaptive controller is illustrated by an example.

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