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George A. Rovithakis

Publications and source records attributed to George A. Rovithakis.

2 recordsLinked to original sources
arXiv2026

Low-Complexity Control Under Input Saturation and Performance Constraints: A Bidirectional Modification Scheme

This article addresses the output tracking control problem for a class of high-order uncertain highly-coupled MIMO nonlinear systems subject to input saturation and performance constraints. To resolve the problem, a bidirectional modification mechanism is constructed, which is able to not only relax the constraints when saturation occurs to alleviate potential conflict, but also accelerate the recovery of original constraints after saturation ceases, and further tighten the constraints to enhance control performance if saturation remains inactive at the steadystate phase. Based on the mechanism, a model-, approximationand complexity-explosion-free control scheme is proposed. To bypass the obstacle in Lyapunov analysis, a novel stability analysis framework is developed, which, given that two parameter selection conditions are met, ensures satisfaction of modified constraints and boundedness of all closed-loop signals. Simulation results validate the effectiveness and superiority of the methodology.

eess.SY↗
arXiv2026

Prescribed Performance Control of Uncertain Higher Relative Degree Nonlinear Systems in the Presence of Delays

We propose a novel feedback controller for a class of uncertain higher relative degree nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a delay-dependent performance correction mechanism is introduced to ensure the boundedness of all signals in the closed-loop and to keep the output tracking error strictly within a dynamically adjusted performance envelope. This mechanism adapts in response to large delays that may cause performance degradation. In the absence of delays, the correction term vanishes, and the controller recovers the nominal (user-defined) performance envelope. The effectiveness of the proposed approach is validated through simulation studies.

math.OC↗