Related papers: Adaptive Switching Controllers for Tracking using …

This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems. Unlike existing methods, which often assume that the constraints…

In practical applications, the efficacy of a control algorithm relies critically on the accurate knowledge of the parameters and states of the underlying system. However, obtaining these quantities in practice is often challenging. Adaptive…

This paper addresses the distributed consensus protocol design problem for linear multi-agent systems with directed graphs and external unmatched disturbances. A novel distributed adaptive consensus protocol is proposed to achieve…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

Driven by the flexible manufacturing trend in the process control industry and the uncertain nature of chemical process models, this article aims to achieve offset-free tracking for a family of uncertain nonlinear systems (e.g., using…

Neuromodulation is central to the adaptation and robustness of animal nervous systems. This paper explores the classical paradigm of indirect adaptive control to design neuromodulatory controllers in conductance-based neuronal models. The…

We consider the computation of resilient controllers for perturbed non-linear dynamical systems w.r.t. linear-time temporal logic specifications. We address this problem through the paradigm of Abstraction-Based Controller Design (ABCD)…

This paper addresses the distributed consensus design problem for linear multi-agent systems with directed communication graphs and external disturbances. Both the cases with strongly connected communication graphs and leader-follower…

Feedback control algorithms traditionally rely on periodic execution on digital platforms. While this simplifies design and analysis, it often leads to inefficient resource usage (e.g., CPU, network bandwidth) in embedded control and shared…

This paper considers the distributed consensus problem of multi-agent systems with general continuous-time linear dynamics. Two distributed adaptive dynamic consensus protocols are proposed, based on the relative output information of…

This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…

The periodic signal tracking and the unknown disturbance rejection under limited communication resources are main important issues in many physical systems and practical applications. The control of such systems has some challenges such as…

Adaptive model predictive control (MPC) robustly ensures safety while reducing uncertainty during operation. In this paper, a distributed version is proposed to deal with network systems featuring multiple agents and limited communication.…

Switching controlled dynamics allows for fast, flexible control design methods for quantum stabilization of pure states and subspaces, which naturally include both Hamiltonian and dissipative control actions. A novel approach to…

This paper presents a safe delay-adaptive control for a strict-feedback nonlinear ODE with a delayed actuator, whose dynamic is also a strict-feedback nonlinear ODE and the delay length is unknown. By formulating the delay as a transport…

The interconnection network is a crucial subsystem in High-Performance Computing clusters and Data-centers, guaranteeing high bandwidth and low latency to the applications' communication operations. Unfortunately, congestion situations may…

This paper considers the cooperative output regulation problem for linear multi-agent systems with a directed communication graph, heterogeneous linear subsystems, and an exosystem whose output is available to only a subset of subsystems.…

A decentralized switched controller is developed for dynamic agents to perform global formation configuration convergence while maintaining network connectivity and avoiding collision within agents and between stationary obstacles, using…

This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying…

This paper considers real-time control and learning problems for finite-dimensional linear systems under binary-valued and randomly disturbed output observations. This has long been regarded as an open problem because the exact values of…