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Hybrid robust observers for locally Lipschitz systems ; Efimov, Denis in Proc. European Control Conference, Budapest (2009) State observer design procedure is proposed for nonlinear locally Lipschitz systems. Possible presence of disturbances is taken into account. The solution is based on logic-based control approach ... [more ▼] State observer design procedure is proposed for nonlinear locally Lipschitz systems. Possible presence of disturbances is taken into account. The solution is based on logic-based control approach applicable to nonlinear systems with bounded solutions. [less ▲] Detailed reference viewed: 26 (0 ULg)On input-to-output stability of switched non-exponentially stable nonlinear systems Efimov, Denis ; ; in Proc. European Control Conference, Budapest (2009) The problem of input-to-output stability for switched nonlinear systems is considered. Two approaches for switching between non-exponentially stable systems are proposed guaranteeing input-to-output ... [more ▼] The problem of input-to-output stability for switched nonlinear systems is considered. Two approaches for switching between non-exponentially stable systems are proposed guaranteeing input-to-output stability for the switched system. [less ▲] Detailed reference viewed: 23 (0 ULg)Hybrid adaptive observers for locally Lipschitz systems with application to mechanical oscillators ; Efimov, Denis ; in Proc. IEEE Conf. Control Applications, Saint-Petersburg (2009) Adaptive observer design procedure is proposed for nonlinear locally Lipschitz systems. Possible presence of disturbances is taken into account. The solution is based on logic-based control approach ... [more ▼] Adaptive observer design procedure is proposed for nonlinear locally Lipschitz systems. Possible presence of disturbances is taken into account. The solution is based on logic-based control approach applicable to nonlinear systems with bounded solutions. Efficacy of the proposed observer is demonstrated by computer simulation for a mechanical oscil- lating system. [less ▲] Detailed reference viewed: 19 (1 ULg)Robust and Adaptive Observer-Based Partial Stabilization for a Class of Nonlinear Systems Efimov, Denis ; in IEEE Transactions on Automatic Control (2009), 54(7), The problem of adaptive stabilization with respect to a set for a class of nonlinear sys- tems in the presence of external disturbances is considered. A novel adaptive observer-based solution for the case ... [more ▼] The problem of adaptive stabilization with respect to a set for a class of nonlinear sys- tems in the presence of external disturbances is considered. A novel adaptive observer-based solution for the case of noisy measurements is proposed. The efficiency of proposed solution is demonstrated via example of swinging a pendulum with unknown parameters. [less ▲] Detailed reference viewed: 47 (0 ULg)Multigoal Output Regulation Via Supervisory Control: Application to Stabilization of a Unicycle. Efimov, Denis ; ; in Proc. American Control Conference, St. Louis (2009) We consider the problem of robust output regulation for nonlinear systems in the following sense: given a system with input disturbances, we are interested in steering one output to zero while tolerating ... [more ▼] We consider the problem of robust output regulation for nonlinear systems in the following sense: given a system with input disturbances, we are interested in steering one output to zero while tolerating an steady-state error on the second output. In other words, we are interested in input-output (asymptotic) stability for one output and practical (asymptotic) stability for the second. Upon the assumption that we dispose of two controllers each of which achieves separately a control objective (for either output) we propose a switching rule to commute between the two controllers appropriately i.e., conserving the input-output stability, to some extent. The problem studied is reminiscent of different concrete situations such as simultaneaous synchronization and tracking control of mechanical systems; in this article we revisit the problem of stabilizing a unicycle (regulation of the ﬁrst output) towards a point while ensuring obstacle-collision avoidance (practical stabilization of the second output). [less ▲] Detailed reference viewed: 27 (1 ULg)Oscillatority of Nonlinear Systems with Static Feedback Efimov, Denis ; in SIAM Journal on Control & Optimization (2009), 48(2), 618-640 New Lyapunov-like conditions for oscillatority of dynamical systems in the sense of Yakubovich are proposed. Unlike previous results these conditions are applicable to nonlinear systems and allow for ... [more ▼] New Lyapunov-like conditions for oscillatority of dynamical systems in the sense of Yakubovich are proposed. Unlike previous results these conditions are applicable to nonlinear systems and allow for consideration of nonperiodic, e.g., chaotic modes. Upper and lower bounds for oscillations amplitude are obtained. The relation between the oscillatority bounds and excitability indices for the systems with the input are established. Control design procedure providing nonlinear systems with oscillatority property is proposed. Examples illustrating proposed results for Van der Pol system, Lorenz system, and Hindmarsh–Rose neuron model as well as computer simulation results are given. [less ▲] Detailed reference viewed: 35 (1 ULg)Input-to-output stabilization of nonlinear systems via backstepping Efimov, Denis ; in International Journal of Robust and Nonlinear Control (2009), 19 An extension of a backstepping method for the stabilization of nonlinear systems with respect to a set is presented. Robust control laws providing the system with input-to-output stability are proposed ... [more ▼] An extension of a backstepping method for the stabilization of nonlinear systems with respect to a set is presented. Robust control laws providing the system with input-to-output stability are proposed. Possibilities of non-strict Lyapunov functions’ application are discussed. The differences between a conventional backstepping method and an approach proposed in Kolesnikov (Synergetic Control Theory. Energoatomizdat: Moscow, 1994; 344) are analyzed. Performance of the obtained solutions is demonstrated by computer simulation for pendulum with an actuator example. [less ▲] Detailed reference viewed: 31 (2 ULg)On periodical oscillations of Lurie systems with discontinuous nonlinearity Efimov, Denis in Proc. 17th IFAC WC, Seoul, Korea (2008) Sufficient conditions of global attracting limit cycle existence for Lurie system with sign nonlinearity are presented. It is assumed that the linear part of the system is output stabilizable, the ... [more ▼] Sufficient conditions of global attracting limit cycle existence for Lurie system with sign nonlinearity are presented. It is assumed that the linear part of the system is output stabilizable, the nonlinearity has linear negative term plus positive one proportional to the output sign. Conditions of oscillatority in the sense of Yakubovich for this class of systems are also reestablished. [less ▲] Detailed reference viewed: 30 (1 ULg)Yakubovich’s Oscillatority of Circadian Oscillations Models Efimov, Denis ; in Mathematical Biosciences (2008), 216 The testing procedure of Yakubovich’s oscillatority property is presented. The procedure is applied for two models of circadian oscillations [10], [11]. Analytical conditions of these models oscillatority ... [more ▼] The testing procedure of Yakubovich’s oscillatority property is presented. The procedure is applied for two models of circadian oscillations [10], [11]. Analytical conditions of these models oscillatority are established and bounds on oscillation amplitude are calculated. [less ▲] Detailed reference viewed: 18 (0 ULg) |
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