H-infinity Strong Stabilization via HIFOO, a Package for Fixed-Order Controller Design

Fixed-Order H-infinity Controller Design via HIFOO, a Specialized Nonsmooth Optimization Package

We report on our experience with fixed-order H-infinity controller design using the HIFOO toolbox. We applied HIFOO to various benchmark fixed (or reduced) order H-infinity controller design problems in the literature, comparing the results with those published for other methods. The results show that HIFOO can be used as an effective alternative to existing methods for fixed-order HIFOO controller design.

User manual and tutorial for ISIM1s: a tiny MATLAB package for single stage invariant manifold-guided impulsive stabilization of delay equations

ISIM1s consists of a few MATLAB functions and a script that can be used to derive stabilizing impulsive controllers for delay differential equations. This document serves as both a manual and tutorial on the functionality of the ISIM1s package. Brief background on the theoretically guaranteed stabilization scenario are provided before the primary MATLAB script is explained. The tutorial demonstrates how the package can be used to derive stabilizing impulsive controllers for delay differential equations of various complexity scales. Emphasis is placed on the role of various tuning parameters.

End-Effector Stabilization of a 10-DOF Mobile Manipulator using Nonlinear Model Predictive Control

Motion control of mobile manipulators (a robotic arm mounted on a mobile base) can be challenging for complex tasks such as material and package handling. In this paper, a task-space stabilization controller based on Nonlinear Model Predictive Control (NMPC) is designed and implemented to a 10 Degrees of Freedom (DOF) mobile manipulator which consists of a 7-DOF robotic arm and a 3-DOF mobile base. The system model is based on kinematic models where the end-effector orientation is parameterized directly by a rotation matrix. The state and control constraints as well as singularity constraints …

BaCLNS：用于快速高效控制线性和非线性控制仿射系统的工具箱

BaCLNS: A toolbox for fast and efficient control of Linear and Nonlinear Control Affine Systems

本文介绍 Python 工具箱 BaCLNS，用于自动化线性与非线性控制仿射系统的反步控制律设计、仿真和分析，并通过多类线性及混沌非线性示例验证其有效性。