Related papers: An Asymptotically Stable Continuous Robust Control…

Considering nonlinear processes which are subject to unknown but measurable disturbances, we provide both stability and feasibility proofs for nonlinear model predictive controllers with abstract updates without the use of stabilizing…

In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…

In a recent paper we have shown how to learn controllers for unknown linear systems using finite-sized noisy data by solving linear matrix inequalities. In this note we extend this approach to deal with unknown nonlinear polynomial systems…

Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional…

The paper proposes the stable motion control law design method for non-honomic differential-drive mobile robot with system and measurement noise in discrete time domain. This method is performed basing on dividing operating configuration of…

This paper addresses the problem of exponential and accelerated finite-time, as well as nearly fixed-time, stabilization of switched linear MIMO systems. The proposed approach relies on a generalized homogenization framework for switched…

In this paper, we investigate the consensus problem of second-order multiagent systems under directed graphs. Simple yet robust consensus algorithms that advance existing achievements in accounting for velocity and input constraints, agent…

In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…

We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…

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…

We introduce general results on well-posedness and output regulation of regular linear systems with nonautonomous controllers. We present a generalization of the internal model principle for time-dependent controllers with asymptotically…

This paper investigates the robust output regulation problem of second-order nonlinear uncertain systems with an unknown exosystem. Instead of the adaptive control approach, this paper resorts to a robust control methodology to solve the…

In this paper, we propose a novel nonlinear observer based on neural networks, called neural observer, for observation tasks of linear time-invariant (LTI) systems and uncertain nonlinear systems. In particular, the neural observer designed…

Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is fast, scalable, and compatible with real-time implementation.…

This article is concerned with stability analysis and stabilization of randomly switched nonlinear systems. These systems may be regarded as piecewise deterministic stochastic systems: the discrete switches are triggered by a stochastic…

This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art safety-enforcing methods, such as control barrier functions…

The present paper is mainly aimed at introducing a novel notion of stability of nonlinear time-delay systems called Rational Stability. According to the Lyapunov-type, various sufficient conditions for rational stability are reached. Under…

We investigate stability analysis and controller design of unknown continuous-time systems under state-feedback with aperiodic sampling, using only noisy data but no model knowledge. We first derive a novel data-dependent parametrization of…

This paper addresses the problem of risk-aware fixed-time stabilization of a class of uncertain, output-feedback nonlinear systems modeled via stochastic differential equations. First, novel classes of certificate functions, namely…

We present the stability analysis for the new regulation-triggered approach to adaptive control introduced in a companion paper. Due to the fact that the closed-loop system is hybrid, our proofs have essential differences from the…