© 2014 IEEE. In this paper, we devise a controller that achieves global uniform exponential stabilization of linear systems while avoiding singular input constraints, that is, the proposed controller never crosses a given input value g. We show that it is possible to solve this problem using two linear controllers and an appropriate switching logic, which leads to a hybrid controller.

© 2015 Elsevier Ltd. In this paper, we tackle the problem of trajectory tracking for a particular class of underactuated vehicles with full torque actuation and a single force direction (thrust), which is fixed relative to a body attached frame. Additionally, we consider that thrust reversal is not available. Under some given assumptions, the control law that we propose is able to track a smooth reference position trajectory while minimizing the angular distance to a desired orientation. This objective is achieved robustly, with respect to bounded state disturbances, and globally, in the sense that it is achieved regardless of the initial state of the vehicle. The proposed controller is tested in an experimental setup, using a small scale quadrotor vehicle and a motion capture system.

© 2015 American Automatic Control Council. In this paper, we show that the existence of centrally synergistic potential functions on the n-dimensional sphere, denoted by Sⁿ, is a sufficient condition for the global asymptotic stabilization of a point in Sⁿ. Additionally, if these functions decrease exponentially fast during flows and are bounded from above and from below by some polynomial function of the tracking error, then the reference point can be globally exponentially stabilized. We construct two kinds of centrally synergistic functions: the first kind consists of a finite family of potential functions on Sⁿ while the second kind consists of an uncountable number of potential functions on Sⁿ. While the former generates a simpler jump logic, the latter is optimal in the sense that it generates flows with minimal length.

© 2014 IEEE. In this paper, we tackle the problem of trajectory tracking for a particular class of underactuated vehicles with full torque actuation and a single force direction (thrust) that is fixed relative to a body attached frame. Additionally, we consider that thrust reversal is not available. We present the design of a hybrid controller that, under some given assumptions, is able to globally asymptotically stabilize the vehicle to a reference position trajectory while minimizing the angle to the desired attitude trajectory. This objective is achieved robustly and globally, in the sense that small perturbations do not lead to instability and it is achieved regardless of the initial state of the vehicle. The algorithm is tested in a experimental setup, using a small scale quadrotor vehicle and the VICON motion capture system.

In this paper, we address the problem of trajectory tracking for a class of underactuated vehicles with full torque actuation and only one dimensional force actuation (thrust). For this class of vehicles, the desired thrust is defined by a saturated control law that achieves global asymptotic stabilization of the position tracking error. The proposed control law also assures that the third component of the angular velocity is regulated to zero. To accomplish this task we propose a hybrid controller that is designed using backstepping techniques and recent developments on synergistic Lyapunov functions. Simulations validating the results are also provided. © 2013 AACC American Automatic Control Council.

The PHENIX collaboration presents first measurements of low-momentum (0.41  GeV/c) direct-photon yield dN_{γ}^{dir}/dη is a smooth function of dN_{ch}/dη and can be well described as proportional to (dN_{ch}/dη)^{α} with α≈1.25. This scaling behavior holds for a wide range of beam energies at the Relativistic Heavy Ion Collider and the Large Hadron Collider, for centrality selected samples, as well as for different A+A collision systems. At a given beam energy, the scaling also holds for high p_{T} (>5  GeV/c), but when results from different collision energies are compared, an additional sqrt[s_{NN}]-dependent multiplicative factor is needed to describe the integrated-direct-photon yield.

The inclusive production cross sections at forward rapidity of [Formula: see text], [Formula: see text], [Formula: see text](1S) and [Formula: see text](2S) are measured in [Formula: see text] collisions at [Formula: see text] with the ALICE detector at the LHC. The analysis is based on a data sample corresponding to an integrated luminosity of 1.35 pb[Formula: see text]. Quarkonia are reconstructed in the dimuon-decay channel and the signal yields are evaluated by fitting the [Formula: see text] invariant mass distributions. The differential production cross sections are measured as a function of the transverse momentum [Formula: see text] and rapidity [Formula: see text], over the ranges [Formula: see text] GeV/c for [Formula: see text], [Formula: see text] GeV/c for all other resonances and for [Formula: see text]. The measured cross sections integrated over [Formula: see text] and [Formula: see text], and assuming unpolarized quarkonia, are: [Formula: see text] [Formula: see text]b, [Formula: see text] [Formula: see text]b, [Formula: see text] nb and [Formula: see text] nb, where the first uncertainty is statistical and the second one is systematic. The results are compared to measurements performed by other LHC experiments and to theoretical models.

The azimuthal anisotropy coefficient v_{2} of prompt D^{0}, D^{+}, D^{*+}, and D_{s}^{+} mesons was measured in midcentral (30%-50% centrality class) Pb-Pb collisions at a center-of-mass energy per nucleon pair sqrt[s_{NN}]=5.02  TeV, with the ALICE detector at the LHC. The D mesons were reconstructed via their hadronic decays at midrapidity, |y|<0.8, in the transverse momentum interval 1

We report the first results of elliptic (v_{2}), triangular (v_{3}), and quadrangular (v_{4}) flow of charged particles in Pb-Pb collisions at a center-of-mass energy per nucleon pair of sqrt[s_{NN}]=5.02  TeV with the ALICE detector at the CERN Large Hadron Collider. The measurements are performed in the central pseudorapidity region |η|<0.8 and for the transverse momentum range 0.2