Publications
685 results found
Astolfi A, 1997, A remark on the stabilization of minimum phase nonlinear systems, 4rd European Control Conference, Brussels, Belgium
Astolfi A, Rapaport A, 1997, Robust stabilization of the angular velocity of a rigid body, Systems and Control Letters, Vol: 34, Pages: 257-264
Astolfi A, Kraus FJ, Qiu X, et al., 1997, Identification and LQ-control of a servo-system, Computer Aided Education in Automation and Control, Bratislava, Slovak Republic
Astolfi A, Schaufelberger W, 1997, State and output feedback stabilization of multiple chained systems with discontinuous control, Systems and Control Letters, Vol: 32, Pages: 49-56
Astolfi A, Milek JJ, Kraus FJ, 1997, Parameter identification of nonlinear systems with known structure, 5th Mediterranean Control Conference, Paphos, Cyprus
Astolfi A, 1996, Extending Discontinuous Stabilizers for Nonholonomic Systems from Kinematic Controllers to Dynamic Controllers, Mathematical Theory of Networks and Systems, St. Louis, MO
Astolfi A, Schaufelberger W, 1996, State and output feedback stabilization of multiple chained systems with discontinuous control, 35th Conference on Decision and Control, Kobe, Japan
Terwiesch P, Astolfi A, 1996, Robust end-point optmizing feedback for nonlinear dynamic processes, International Journal of Control, Vol: 65, Pages: 995-1015
Astolfi A, Milek JJ, Kraus FJ, 1996, On-line parameter estimation of continuous-time nonlinear dynamical systems, World Automation Conference, Montpellier, France
Astolfi A, 1996, Discontinuous control of nonholonomic systems, Systems and Control Letters, Vol: 27, Pages: 37-45
Del Re L, Goransson A, Astolfi A, 1996, Enhancing hydrostatic gear efficiency through nonlinear optimal control strategies, Journal of Dynamics Systems, Measurements and Control, Vol: 118, Pages: 727-732
Astolfi A, Del Re L, 1996, A note on local and global feedback linearization of SISO nonlinear systems, 13th IFAC World Congress, San Francisco, CA
Gartner H, Astolfi A, 1996, Stability Study of a Fuzzy Controlled Mobile Robot, International Journal of Intelligent Control and Systems, Vol: 1, Pages: 367-379
Gartner H, Astolfi A, 1996, Stability study of a fuzzy controlled mobile robot, 35th Conference on Decision and Control, Kobe, Japan
Astolfi A, 1995, On the relation between state feedback and full information regulators in H<inf>∞</inf> control, Pages: 327-332, ISSN: 0191-2216
In this note the relationship between state feedback control laws and full information control laws, i.e. control laws which make explicit use of the disturbance signals, is discussed. In particular it is shown that any (polynomial) full information control law can be always approximated by a state feedback control law, provided that a certain (arbitrarily small) amount of performance is sacrificed. Moreover, the obtained result is used to give alternative proof and generalization to some existing results in the area of global disturbance attenuation for nonlinear systems and to establish some new and interesting results regarding the problem of approximate model matching.
Terwiesch P, Astolfi A, 1995, Approximate H<inf>∞</inf> end-point optimization for nonlinear dynamic processes, Pages: 1762-1766, ISSN: 0743-1619
An approach to obtaining performance robustness in an H∞ sense for end-point optimization of nonlinear dynamic systems is presented. Classically, end-point optimization is performed only for the nominal process model using optimal control methods, and the question of performance robustness to disturbances and model-plant mismatch remains unaddressed. The present contribution solves the end-point optimization problem for nonlinear affine systems with fixed final time through series expansion of the Hamilton-Jacobi p.d.e., yielding an arbitrarily fine approximation to the optimal robust end-point controller. As model-plant mismatch is particularly common with chemical batch processes, the suitability of the robust optimizing feedback is demonstrated on a semi-batch reactor simulation example, where robustness to several realistic mismatches is investigated and the results are compared against those for the optimal open-loop policy and the optimal feedback designed for the nominal model.
Astolfi A, 1995, Exponential stabilization of a car-like vehicle, Pages: 1391-1396, ISSN: 1050-4729
In this paper we propose a method to exponentially stabilize nonholonomic chained systems with two control inputs by means of a discontinuous state feedback control law. The presented approach is used to drive a car-like vehicle from a given initial configuration to the origin of the coordinates system. The enclosed simulations results show the effectiveness of the proposed control law.
Astolfi A, 1994, Singular H<inf>∞</inf> control, Pages: 2543-2548, ISSN: 0191-2216
The present paper presents a solution to the singular H∞ control problem via state feedback for a class of nonlinear systems. It is shown that the problem of almost disturbance decoupling with stability plays a fundamental role in the solution of the considered problem. We also point out when the singular problem can be reduced to a regular one or solved via standard H∞ technique. We must stress that the solution of the singular problem is obtained without making any approximation of it by regular problems, i.e. via the so called cheap control. The latter is used to provide a solution to the general H∞ control problem, i.e. when no assumptions are made on the zero dynamic of the system.
Astolfi A, 1994, Adaptive compensation of nonlinear time varying torque disturbance in rigid robots, Pages: 297-302
This paper presents a new approach to the control of rigid robots when actuator dynamics and nonlinearities (e.g. saturation), Coulumb friction, ... are relevant. An adaptive like algorithm is used in order to obtain desired trajectory tracking in the presence of unknown, non linear, time varying torque disturbances acting on the robot.
Astolfi A, Lanari L, 1994, Disturbance attenuation and set-point regulation of rigid robots via H<inf>∞</inf> control, Pages: 2578-2583, ISSN: 0191-2216
In the present paper we propose a possible strategy for disturbance attenuation and set-point regulation for a rigid robot using the notion of L2-gain of a system. We discuss the use of H∞ control for trajectory tracking and we show, for the particular case of rigid robots, that a PD type controller is sufficient to render the closed loop system from the exogenous input (disturbances and references) to the error variable dissipative with respect to the supply rate associated with the notion of L2-gain.
DELRE L, GORANSSON A, ASTOLFI A, 1994, ENHANCING HYDROSTATIC GEAR EFFICIENCY THROUGH NONLINEAR OPTIMAL-CONTROL STRATEGIES, 3rd IEEE Conference on Control Applications, Publisher: I E E E, Pages: 403-408
ASTOLFI A, 1994, ON THE STABILIZATION OF NONHOLONOMIC SYSTEMS, 33rd IEEE Conference on Decision and Control, Publisher: I E E E, Pages: 3481-3486, ISSN: 0191-2216
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- Citations: 43
KRAUS F, GUZZELLA L, ASTOLFI A, et al., 1993, INVARIANT ROOTS OF POLYNOMIALS WITH UNCERTAIN COEFFICIENTS, 32nd IEEE Conference on Decision and Control, Publisher: I E E E, Pages: 498-501
ISIDORI A, ASTOLFI A, 1992, DISTURBANCE ATTENUATION AND H-INFINITY-CONTROL VIA MEASUREMENT FEEDBACK IN NONLINEAR-SYSTEMS, IEEE TRANSACTIONS ON AUTOMATIC CONTROL, Vol: 37, Pages: 1283-1293, ISSN: 0018-9286
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- Citations: 584
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