Related papers: A Minimax Linear Quadratic Gaussian Method for Ant…
This paper proposes a constructive approach to safety control of nonlinear cascade systems subject to multiple state constraints. New design ingredients include a unified characterization of safety and stability for systematic designs of…
This paper proposes an automatic controller tuning framework based on linear optimal control combined with Bayesian optimization. With this framework, an initial set of controller gains is automatically improved according to a pre-defined…
The Kalman filter (KF)-based active noise control (ANC) system demonstrates superior tracking and faster convergence compared to the least mean square (LMS) method, particularly in dynamic noise cancellation scenarios. However, in…
Actuator amplitude and rate saturation (A\&RSat), together with their consequent windup problem, have long been recognised as challenges in control systems. Anti-windup (AW) solutions have been developed over the past decades, which can…
The frequency droop response of conventional turbine driven synchronous generators with respect to load increases is normally used in order to have stable operating characteristics for multiple generators operating in parallel over large…
In this paper, we aim to improve the robustness of dynamic quadrupedal locomotion through two aspects: 1) fast model predictive foothold planning, and 2) applying LQR to projected inverse dynamic control for robust motion tracking. In our…
In this paper, we address the issue of quantifying maximum actuator degradation in linear time-invariant dynamical systems. We present a new unified framework for computing the state-feedback controller gain that meets a user-defined…
In this paper, we deal with the power regulation of tethered-wing systems and demonstrate advantages of variable-pitch control in mitigating the dynamic mechanical loads and power fluctuations. The proposed scheme is based on a strategy…
In this paper, we propose state- and static output-feedback generalized guaranteed cost control (GCC) approaches for discrete-time linear systems subject to norm-bounded structured parametric uncertainties. This method enables the convex…
Linear-Quadratic-Gaussian (LQG) control is concerned with the design of an optimal controller and estimator for linear Gaussian systems with imperfect state information. Standard LQG assumes the set of sensor measurements, to be fed to the…
End-to-end engineering design pipelines, in which designs are evaluated using concurrently defined optimal controllers, are becoming increasingly common in practice. To discover designs that perform well even under the misspecification of…
This paper proposes novel approaches to design hierarchical decentralized robust controllers for homogeneous linear multi-agent systems (MASs) perturbed by disturbances/noise. Firstly, based on LQR method, we present a systematic procedure…
Growing demands in the semiconductor industry necessitate increasingly stringent requirements on throughput and positioning accuracy of lithographic equipment. Meeting these demands involves employing highly aggressive motion profiles,…
Small-signal stability issues-induced broadband oscillations pose significant threats to the secure operation of multi-inverter systems, attracting extensive research attention. Researches revealed that system instability is led by the…
This paper is concerned with a risk-sensitive optimal control problem for a feedback connection of a quantum plant with a measurement-based classical controller. The plant is a multimode open quantum harmonic oscillator driven by a…
We propose a new risk-constrained reformulation of the standard Linear Quadratic Regulator (LQR) problem. Our framework is motivated by the fact that the classical (risk-neutral) LQR controller, although optimal in expectation, might be…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…
Due to the requirements of high positioning accuracy, small swing angle, short transportation time, and high safety, both motion and stabilization control for an gantry crane system becomes an interesting issue in the field of control…
This paper is concerned with linear-quadratic-Gaussian (LQG) control for a field-mediated feedback connection of a plant and a coherent (measurement-free) controller. Both the plant and the controller are multimode open quantum harmonic…
In this paper we present a linear quadratic Gaussian (LQG) feedback control strategy for a class of linear non-Markovian quantum systems. The feedback control law is designed based on the estimated states of a whitening quantum filter for…