Foreword The subject of control system synthesis, and in particular robust control, has had a long and rich history. Since the 1980s, the topic of robust control has been on a sound mathematical foundation. The principal aim of robust control is to ensure that the performance of a control system is satisfactory, or nearly optimal, even when the system to be… (More)
It is known that a linear time-invariant system subject to \input saturation" can be globally asymptotically stabilized if it has no eigenvalues with positive real parts. It is also shown by Fuller 4] and Sussmann and Yang 12] that in general one must use nonlinear control laws and only some special cases can be handled by linear control laws. In this paper… (More)
We use a high-gain methodology to construct linear decentralized controllers for consensus, in networks with identical but general multi-input multi-output (MIMO) linear time-invariant (LTI) agents and quite-general observation topology, including numerous time-invariant and time-varying ones.
The purpose of this paper is to examine the problem of controlling a linear time-invariant system subject to input saturation in order to have its output track (or reject) a family of reference (or disturbance) signals produced by some external generator. It is shown that a semi-global framework for this problem is a natural one. Within this framework, a… (More)
SUMMARY In this paper, we study control of a chain of integrators under actuator saturation and non-additive disturbances. We shall show that boundedness of the states can be ensured if the disturbances are matched and integral-bounded; misaligned and magnitude-bounded; or a combination of the two, using either a static or a dynamic low-gain state feedback.… (More)
—We study decentralized controller design for stabilization and pole-placement, in a network of autonomous agents with double-in-tegrator internal dynamics and arbitrary observation topology. We show that a simple multi-lead-compensator architecture, in particular one in which each agent uses a derivative-approximation compensator with three memory… (More)
— We present an observer for estimating position, velocity, attitude, and gyro bias, by using inertial measurements of accelerations and angular velocities, magnetometer measurements, and satellite-based measurements of position and (optionally) velocity. The design proceeds in two stages: in Stage I, an attitude and gyro bias estimator is designed based on… (More)