Consensus stabilizability and exact consensus controllability of multi-agent linear systems

A goal in engineering systems is to try to control them. Control theory offers mathematical tools for steering engineered systems towards a desired state. Stabilizability and controllability can be studied under different points of view, in particular, we focus on measure of controllability in the sense of the minimum set of controls that need for to steer the multiagent system toward any desired state. In this paper, we study the consensus stabilizability and exact consensus controllability of multi-agent linear systems, in which all agents have a same linear dynamic mode that can be in any orderPostprint (published version

On the Fattorini Criterion for Approximate Controllability and Stabilizability of Parabolic Systems

In this paper, we consider the well-known Fattorini's criterion for approximate controllability of infinite dimensional linear systems of type $y'=A y+Bu$. We precise the result proved by H. O. Fattorini in \cite{Fattorini1966} for bounded input $B$, in the case where $B$ can be unbounded or in the case of finite-dimensional controls. More precisely, we prove that if Fattorini's criterion is satisfied and if the set of geometric multiplicities of $A$ is bounded then approximate controllability can be achieved with finite dimensional controls. An important consequence of this result consists in using the Fattorini's criterion to obtain the feedback stabilizability of linear and nonlinear parabolic systems with feedback controls in a finite dimensional space. In particular, for systems described by partial differential equations, such a criterion reduces to a unique continuation theorem for a stationary system. We illustrate such a method by tackling some coupled Navier-Stokes type equations (MHD system and micropolar fluid system) and we sketch a systematic procedure relying on Fattorini's criterion for checking stabilizability of such nonlinear systems. In that case, the unique continuation theorems rely on local Carleman inequalities for stationary Stokes type systems

Nonlinear control of a class of underactuated systems

A theoretical framework is established for the dynamics and control of underactuated systems, defined as systems which have fewer inputs than degrees of freedom. Control system formulation of underactuated systems is addressed and the class of second-order nonholonomic systems is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the result

Dynamics and control of a class of underactuated mechanical systems

This paper presents a theoretical framework for the dynamics and control of underactuated mechanical systems, defined as systems with fewer inputs than degrees of freedom. Control system formulation of underactuated mechanical systems is addressed and a class of underactuated systems characterized by nonintegrable dynamics relations is identified. Controllability and stabilizability results are derived for this class of underactuated systems. Examples are included to illustrate the results; these examples are of underactuated mechanical systems that are not linearly controllable or smoothly stabilizable