© 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.

© 2019, CERN for the benefit of the ALICE collaboration. We present a study of the inclusive charged-particle transverse momentum (pT) spectra as a function of charged-particle multiplicity density at mid-pseudorapidity, d Nch/ d η, in pp collisions at s=5.02 and 13 TeV covering the kinematic range | η| < 0.8 and 0.15 < pT< 20 GeV/c. The results are presented for events with at least one charged particle in | η| < 1 (INEL>0). The pT spectra are reported for two multiplicity estimators covering different pseudorapidity regions. The pT spectra normalized to that for INEL>0 show little energy dependence. Moreover, the high-pT yields of charged particles increase faster than the charged-particle multiplicity density. The average pT as a function of multiplicity and transverse spherocity is reported for pp collisions at s=13 TeV. For low- (high-) spherocity events, corresponding to jet-like (isotropic) events, the average pT is higher (smaller) than that measured in INEL>0 pp collisions. Within uncertainties, the functional form of ⟨ pT⟩ (Nch) is not affected by the spherocity selection. While EPOS LHC gives a good description of many features of data, PYTHIA overestimates the average pT in jet-like events.