arXiv subjects

Leonid B. Freidovich

Publications and source records attributed to Leonid B. Freidovich.

4 recordsLinked to original sources

arXiv2026

On orbital stabilization of a circular motion primitive for a dynamic extension of the Dubins car model

This paper addresses orbital stabilization of a circular motion primitive for a dynamic extension of the Dubins car model within a transverse-linearization framework. We show that the corresponding transverse linearization is unstable and not stabilizable by linear state feedback. Therefore, the standard linearization-based approach to orbital stabilization cannot be applied directly. The main contribution is a set of explicit and verifiable conditions that characterize when a controller design based on transverse linearization remains applicable. These conditions rely on the specific structure of the dynamics in a neighborhood of the motion and on the use of non-standard transverse coordinates for controller design and analysis. Numerical simulations illustrate the proposed design procedure.

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arXiv2026

On boundedness of solutions of three-state Moore-Greitzer compressor model with nonlinear proportional-integral controller for the surge subsystem

The work focuses on Lagrange stability of the origin for the three-state Moore-Greitzer compressor model in closed loop with a nonlinear PI controller, tuned only to stabilize a lower-dimensional invariant surge-dynamics subsystem.The linearization of the system is not stabilizable but the static nonlinearity satisfies a sector condition, and together with a structural property of the stall-dynamics subsystem, this plays an essential role in the analysis. The main contribution provides explicit conditions on the controller parameters together with analytical arguments that guarantee boundedness of all solutions of the closed-loop system. The analysis employs a non-standard application of circle-criterion-based arguments. Together with the additional arguments developed in the work, this stability test also shows that the closed-loop system is robust to certain perturbations and model uncertainties.

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arXiv2025

Derivative Estimation from Coarse, Irregular, Noisy Samples: An MLE-Spline Approach

We address numerical differentiation under coarse, non-uniform sampling and Gaussian noise. A maximum-likelihood estimator with $L_2$-norm constraint on a higher-order derivative is obtained, yielding spline-based solution. We introduce a non-standard parameterization of quadratic splines and develop recursive online algorithms. Two formulations -- quadratic and zero-order -- offer tradeoff between smoothness and computational speed. Simulations demonstrate superior performance over high-gain observers and super-twisting differentiators under coarse sampling and high noise, benefiting systems where higher sampling rates are impractical.

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arXiv2021

Robust Orbital Stabilization: A Floquet Theory-based Approach

The design of robust orbitally stabilizing feedback is considered. From a known orbitally stabilizing controller for a nominal, disturbance-free system, a robustifying feedback extension is designed utilizing the sliding-mode control (SMC) methodology. The main contribution of the paper is to provide a constructive procedure for designing the time-invariant switching function used in the SMC synthesis. More specifically, its zero-level set (the sliding manifold) is designed using a real Floquet-Lyapunov transformation to locally correspond to an invariant subspace of the Monodromy matrix of a transverse linearization. This ensures asymptotic stability of the periodic orbit when the system is confined to the sliding manifold, despite any system uncertainties and external disturbances satisfying a matching condition. The challenging task of oscillation control of the underactuated Cart-Pendulum system subject to both matched and unmatched disturbances/uncertainties demonstrates the efficacy of the proposed scheme.

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