Related papers: Robust Supervisory Control for Uniting Two Output-…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
Inverter-dominated microgrids are quickly becoming a key building block of future power systems. They rely on centralized controllers that can provide reliability and resiliency in extreme events. Nonetheless, communication failures due to…
This paper presents a safe output regulation control strategy for a class of systems modeled by a coupled $2\times 2$ hyperbolic PDE-ODE structure, subject to fully distributed disturbances throughout the system. A state-feedback controller…
This paper explores the voltage regulation challenges in boost converter systems, which are critical components in power electronics due to their ability to step up voltage levels efficiently. The proposed control algorithm ensures…
Field robot systems have recently been applied to a wide range of research fields. Making such systems more automated, advanced, and activated requires cooperation among heterogeneous robots. Classic control theory is inefficient in…
This paper proposes an algorithm that combines Fast Moving Horizon Parameter Estimation and Model Predictive Control subject to an observability constraint designed to ensure a lower bound on the performance of the parameter estimator.…
This paper presents a scheme for dual robust control of batch processes under parametric uncertainty. The dual-control paradigm arises in the context of adaptive control. A trade-off should be decided between the control actions that…
The design of robust controllers for triple inverted pendulum systems presents significant challenges due to their inherent instability and nonlinear dynamics. Furthermore, uncertainties in system parameters further complicate the control…
This work proposes a notion of robust reachability of one set from another set under constant control. This notion is used to construct a control strategy, involving sequential set-to-set reachability, which guarantees robust global…
This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…
This paper proposes a new framework and several results to quantify the performance of data-driven state-feedback controllers for linear systems against targeted perturbations of the training data. We focus on the case where subsets of the…
This paper deals with the stabilization of linear systems with process noise under packet drops between the sensor and the controller. Our aim is to ensure exponential convergence of the second moment of the plant state to a given bound in…
There have been attempts in reinforcement learning to exploit a priori knowledge about the structure of the system. This paper proposes a hybrid reinforcement learning controller which dynamically interpolates a model-based linear…
In this paper, we present a novel control scheme for feedback optimization. That is, we propose a discrete-time controller that can steer the steady state of a physical plant to the solution of a constrained optimization problem without…
Design and implementation of an optimal and robust single-loop voltage controller is proposed for single-phase grid forming voltage source inverter (VSI). The objective of the proposed controller is to have good reference tracking and…
We investigate the problem of practical output regulation, i.e., to design a controller that brings the system output in the vicinity of a desired target value while keeping the other variables bounded. We consider uncertain systems that…
A new adaptive predictive controller for constrained linear systems is presented. The main feature of the proposed controller is the partition of the input in two components. The first part is used to persistently excite the system, in…
Designing a stabilizing controller for nonlinear systems is a challenging task, especially for high-dimensional problems with unknown dynamics. Traditional reinforcement learning algorithms applied to stabilization tasks tend to drive the…
This paper develops a hybrid output-feedback control framework for average dwell-time (ADT) switched linear systems subject to actuator saturation. The considered subsystems may be exponentially unstable, and the saturation nonlinearity is…
The use of multivalued controls derived from a special maximal monotone operator are studied in this note. Starting with a strictly passive linear system (with possible parametric uncertainty and external disturbances) a multivalued control…