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

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