Controlled invariance of nonlinear systems:generalized concepts

A generalized setting is developed, which describes controlled invariance for nonlinear control systems and which incorporates the previous approaches in dealing with controlled invariant distributions. This generalized notion of controlled invariance is of major importance for the geometric description of dynamic feedback problems

Static measurement feedback decoupling of nonlinear control systems

This paper gives necessary and sufficient conditions for solvability of the strong input-output decoupling problem by static measurement feedback for nonlinear control systems

Generalized controlled invariance for nonlinear systems:further results

A general setting is developed which describes controlled invariance and conditioned invariance for nonlinear control systems and which incorporates the previous approaches dealing with controlled or conditioned invariant (co-)distributions. A special class of controlled invariant subspaces, called controllability cospaces, is introduced. These geometric notions are shown to be useful for deriving a (geometric) solution to the disturbance decoupling problem by dynamic state feedback or dynamic output feedback

Factorization and input-output decoupling by static output feedback for nonlinear control systems

In this paper we study the strong input-output decoupling problem via regular static output feedback for nonlinear control systems (SIODPof). It turns out that the solvability of the problem is equivalent to the solvability of a factorization problem for a set of functions with respect to certain codistributions. Checkable conditions for the solvability of this factorization problem are given

A virtual structure approach to formation control of unicycle mobile robots using mutual coupling

In this article, the formation control problem for unicycle mobile robots is studied. A distributed virtual structure control strategy with mutual coupling between the robots is proposed. The rationale behind the introduction of the coupling terms is the fact that these introduce additional robustness of the formation with respect to perturbations as compared to typical leader–follower approaches. The applicability of the proposed approach is shown in simulations and experiments with a group of wirelessly controlled mobile robots