Related papers: Additive-State-Decomposition-Based Tracking Contro…
This article develops a methodology that enables learning an objective function of an optimal control system from incomplete trajectory observations. The objective function is assumed to be a weighted sum of features (or basis functions)…
This article studies the control ideas of the optimal backstepping technique, proposing an event-triggered optimal tracking control scheme for a class of strict-feedback nonlinear systems with non-affine and nonlinear faults. A simplified…
A novel nonlinear model predictive control approach for state signal shaping is proposed. The control strategy introduces a residual shape cost kernel based on the dynamics of circular limit cycles from a supercritical Neimark-Sacker…
Real time model based control of high dimensional nonlinear systems presents severe computational challenges. Conventional reduced order model control relies heavily on expert tuning or parameter adaptation and seldom offers mechanisms for…
This paper applies the Thomas decomposition technique to nonlinear control systems, in particular to the study of the dependence of the system behavior on parameters. Thomas' algorithm is a symbolic method which splits a given system of…
Tilted hexarotors embody a technology that remains partially unexploited in terms of its potential, especially concerning precise and concurrent position and attitude control. Focusing on these aerial platforms, we propose two control…
This paper considers the problem of output feedback control for non-square multi-input multi-output systems with arbitrary relative degree. The proposed controller, based on the L1 adaptive control architecture, is designed using the right…
This letter presents two bearing-constrained formation tracking control protocols for multiple nonholonomic agents based respectively on the bearing vectors and displacements between the agents. The desired formation pattern of the system…
This paper considers an adaptive tracking control problem for stochastic regression systems with multi-threshold quantized observations. Different from the existing studies for periodic reference signals, the reference signal in this paper…
For a nonlinear dynamical system that depends on parameters, the paper introduces a novel tensorial reduced-order model (TROM). The reduced model is projection-based, and for systems with no parameters involved, it resembles proper…
This work proposes a two-layered control scheme for constrained nonlinear systems represented by a class of recurrent neural networks and affected by additive disturbances. In particular, a base controller ensures global or regional…
Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…
The trajectory tracking problem for multivariable linear systems is considered. Two different techniques are examined: the output regulation theory (ORT) and the flatness based tracking (FBT). ORT and FBT are two different approaches to…
LoRA-based continual learning represents a promising avenue for leveraging pre-trained models in downstream continual learning tasks. Recent studies have shown that orthogonal LoRA tuning effectively mitigates forgetting. However, this work…
This paper addresses a motion planning problem of the second-order chained form system. The author presents a novel control approach based on switching a state. The second-order chained form system is composed of three subsystems including…
This paper presents a new way to study registration based trackers by decomposing them into three constituent sub modules: appearance model, state space model and search method. It is often the case that when a new tracker is introduced in…
A model-based feasible control strategy for multi-rotor systems is presented, pursuing two control objectives simultaneously: Mechanical loads on the main tower are to be mitigated, and an externally determined power change is to be…
The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…
We propose and analyze a reliable and efficient a posteriori error estimator for the pointwise tracking optimal control problem of the Stokes equations. This linear-quadratic optimal control problem entails the minimization of a cost…
Run Time Assurance (RTA) Systems are online verification mechanisms that filter an unverified primary controller output to ensure system safety. The primary control may come from a human operator, an advanced control approach, or an…