This paper studies the coupled dynamics spanning multiple time-scales that arise in networked systems. Two particular cases are examined. In first case, agents evolve according to consensus over state-dependent graphs whose weight slow varying. second, rapidly evolving nonlinear node dynamics. both instances, graph-based guarantees provided certify existence of a separation principle across time scales. Further, effect network's structure on composite time-scale system's stability and basin...

For a class of linear time-invariant systems with uncertain parameters, this paper proposes and develops notion the Domain Control Authority to achieve stable adaptation in presence control position limits. The defines subspace which plant state can be driven any arbitrary direction by bounded control. No restrictions are placed on stability open-loop system. To address problem containing within Authority, switching strategy consistent constraint mechanism is developed for an unstable plant....

The trajectory-following control problem for a general class of nonlinear multi-input, multi-output two-time scale system is revisited. While most earlier works used singular perturbation theory and assumed that an isolated real root exists the set algebraic equations constitute slow subsystem, here systems are analyzed in context integral manifolds. This accounts existence multiple roots. It shown subsystem has center manifold, small values state, approximate solution transcendental can be...

This paper studies the coupling between dynamics that span multiple time-scales in distributed networked systems. In particular, we consider evolution of consensus interacting with fast nonlinear vehicle as well its progress over a state-dependent graphs slow-varying weight dynamics. Graph-based guarantees are provided certify existence separation principle across time-scales. Further, quantify role network's structure ensuring stability composite multi-time-scale system. Graph spectral...

The high complexity of modern autonomous aerospace systems has created a need for new, powerful analysis techniques control design, verification, and validation. This paper exploits the capabilities continuation methods to analyze system properties interest along with identification stability boundaries parameter-dependent nonlinear in context numerical bifurcation analysis. Direct inclusion equality constraints implementation is discussed. In addition, eigenvalue-based performance metrics...

This paper develops a fault tolerant Structured Adaptive Model Inversion controller integrated with reliable relative position sensor for practical autonomous aerial refueling. The refueling scenario of an unmanned tanker aircraft receiver using the probe-and-drogue method is addressed. structured adaptive model inversion does not depend on detection information, yet reconfigures and provides smooth trajectory tracking probe docking in presence control eector failure. also handles parameter...

Tracking control laws for a general class of nonlinear singularly perturbed systems are developed. No assumptions concerning the nonlinearity system is made. The effect different speeds controllers and actuator dynamics studied asymptotic stabilization shown using Lyapunov methods. Design procedure performance proposed technique evaluated against composite method. Results indicate that applies both to standard non-standard forms systems.

The high complexity of modern autonomous aerospace systems has created a need for new, powerful analysis techniques control design and validation. This paper exploits the capabilities continuation algorithms to derive numerical method that provides systematic way investigate how system properties local equilibrium condition around which is operated change throughout operational envelope. based on computing subsets system’s manifold with particular are specified by equality constraints....

This paper develops a general control algorithm for the exact output tracking of nonlinear systems with non-minimum phase dynamics. The technique is causal and does not require preview or knowledge desired reference beforehand. Additionally, independent operating condition reference. main idea to convert problem into slow state singularly perturbed systems. Previous work on have shown asymptotic states only class that are linear in fast states. However, this restriction applicable procedure...

This paper develops a general control algorithm for precision output tracking of nonlinear non-minimum phase dynamics an autonomous three degree-of-freedom unmanned helicopter. Previous approaches in ight literature have shown approximate by neglecting the coupling between forces and moments generated eectors. However, it is that this signicant model under study cannot be neglected. In retained natural time-scale decomposition vehicle employed accomplishing asymptotic tracking. The design...

Acceleration control of highly agile, aerodynamically-controlled missiles is a well-known non-minimum phase problem. This problem revisited here for planar tailcontrolled generic missile, and globally stable nonlinear autopilot command structure synthesized to maximize performance. For the rst time characteristics vehicle are addressed by making no modication output denition inducing an inherent scale separation in closed-loop dynamics. Unlike, previous techniques, results presented based on...

E cient space situational awareness requires trajectory propagation techniques that give direct insight into how atmospheric drag related uncertainties manifest in position and velocity errors over time. This paper uses the method of multiple scales to develop a new semi-analytic technique for drag-perturbed objects gives this necessary rst As opposed other approaches, approximate trajectories generated using are shown have known error properties directly depend on parameters. These...

The trajectory-following control problem for a general class of nonlinear multi-input, multi-output two-time scale system is revisited. While most earlier works used singular perturbation theory and assumed that an isolated real root exists the set algebraic equations constitute slow subsystem, here systems are analyzed in context integral manifolds. This accounts existence multiple roots. It shown subsystem has center manifold, small values state, approximate solution transcendental can be...

Special care is required to ensure proper operation of linear control methods regulate a nonlinear parameter-dependent system under all operating conditions. The local controllability and observability at the regulated equilibrium point such systems change as setpoints other parameters are varied. In this paper, numerical method developed that reveals how affect observability. analysis provides systematic approach scan operational envelope for regions reduced or linearized instead analyzing...

Acceleration control of highly agile, fin-controlled missiles is a well-known non-minimum phase problem. In this paper, the problem revisited and globally stable feedback law using minimal model information synthesized. No modifications to output/or placement virtual inertial measurement unit are placed. The proposed architecture an extension authors prior works for stabilizing systems with full system information. paper fundamental ideas broadened partial dynamic global stability Lyapunov...

This paper focuses on the stabilization of non-affine-in-control systems that are open-loop unstable. The main result is a general method for constructing feedback all non-affine systems. synthesis procedure based concepts passivation, and extended by deriving sufficient conditions passivity. developments essential ideas proposed technique validated via simulation.

This paper studies the multiple timescale behavior that is induced by dynamic coupling between continuous-time and discrete-time systems, arises naturally in distributed networked systems. An order reduction method proposed establishes a mathematically rigorous separation principle fast evolution of dynamics slow updates dynamics. Quantitative conditions on discrete update rate are then derived ensure stability coupled based isolated The results illustrated for network satellites whose...