Related papers: Robust Supervisory Control for Uniting Two Output-…
Computing the receding horizon optimal control of nonlinear hybrid systems is typically prohibitively slow, limiting real-time implementation. To address this challenge, we propose a layered Model Predictive Control (MPC) architecture for…
This paper presents a novel methodology to develop scheduling algorithms. The scheduling problem is phrased as a control problem, and control-theoretical techniques are used to design a scheduling algorithm that meets specific requirements.…
The present paper addresses the problem of existence of an (output) feedback law to the purposes of asymptotically steering to zero a given controlled variable, while keeping all state variables bounded, for any initial conditions in a…
In this paper, we address the problem of designing an aperiodic sampled-data controller stabilizing the zero-input equilibrium of an uncertain affine plant. The closed-loop system is modeled as a hybrid dynamical system incorporating a…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
This paper is concerned with the output feedback stabilization of a reaction-diffusion equation by means of bounded control inputs in the presence of saturations. Using a finite-dimensional controller composed of an observer coupled with a…
Stabilization of a coupled system consisting of a parabolic partial differential equation and an elliptic partial differential equation is considered. Even in the situation when the parabolic equation is exponentially stable on its own, the…
We introduce a novel hybrid approach combining tensor network methods with the stabilizer formalism to address the challenges of simulating many-body quantum systems. By integrating these techniques, we enhance our ability to accurately…
The problem of robust distributed control arises in several large-scale systems, such as transportation networks and power grid systems. In many practical scenarios controllers might not have enough information to make globally optimal…
This paper investigates a robust positive consensus problem for a class of heterogeneous high-order multi-agent systems subject to external inputs. Compared with existing multi-agent consensus results, the most distinct feature of the…
Optimal state-feedback controllers, capable of changing between different objective functions, are advantageous to systems in which unexpected situations may arise. However, synthesising such controllers, even for a single objective, is a…
Eco-driving strategies have demonstrated substantial potential for improving energy efficiency and reducing emissions, especially at signalized intersections. However, evaluations of eco-driving methods typically rely on simplified…
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…
Recent research has shown that supervised learning can be an effective tool for designing optimal feedback controllers for high-dimensional nonlinear dynamic systems. But the behavior of these neural network (NN) controllers is still not…
Robotic systems often need to consider multiple tasks concurrently. This challenge calls for controller synthesis algorithms that fulfill multiple control specifications while maintaining the stability of the overall system. In this paper,…
In this work we consider robust stabilization of uncertain dynamical systems and show that this can be achieved by solving a non-classically constrained analytic interpolation problem. In particular, this non-classical constraint confines…
Most control systems run on digital hardware with limited communication resources. This work develops self-triggered control for linear systems where sensors update independently (asynchronous measurements). The controller computes an…
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…
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…
In this paper, the notion of robust strict QSR-dissipativity is applied to solve the static output feedback control problem for a class of continuous-time nonlinear rational systems subject to input saturation and bounded parametric…