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Theory: Finite/Fixed-Time Stability

Theoretical conception of fixed-time stable systems and their analysis using explicit and implicit Lyapunov functions. Finite-time and fixed-time controllers and observers design. Digitization of finite-time and fixed-time stable control systems.

Theory: Homogeneous Control

Study of homogeneity (scaling invariance) of finite-dimensional and infinite-dimensional systems. Systematic design and analysis of nonlinear controllers/observers with faster convergence, better robustness and improved safety.

Theory: Sliding Mode Control

Analysis and design of higher-order sliding mode algorithms with improving robustness and reducing chattering. Lyaponov functions for sliding mode control systems. Attractive Ellipsoids Method in sliding mode control.

Software: HCS Toolbox

Homogeneous Control Systems Toolbox (MATLAB)

Application: Turbulent Flow Control

Implementation of sliding mode control for

  • regulation of flow separation ( video )
  • active drag reduction ( video )

Application: Robot Control

Implementation of homogeneous algorithms for

  • quadrotor control (video )
  • unicycle mobile robot control (video )