Related papers: Identification of nonlinear controllers from data:…
We present a data-driven nonlinear predictive control approach for the class of discrete-time multi-input multi-output feedback linearizable nonlinear systems. The scheme uses a non-parametric predictive model based only on input and noisy…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
A feedback controller is proposed to perform output reference tracking with prescribed performance for nonlinear continuous-time systems of relative degree two. The controller is of sampled-data type, i.e., measurements are available only…
This paper describes the design process for developing a nonlinear model predictive controller for fault tolerant flight control. After examining and implementing a number of numerical techniques, this paper identifies pseudospectral…
This paper presents an indirect data-driven output feedback controller synthesis for nonlinear systems, leveraging Structured State-space Models (SSMs) as surrogate models. SSMs have emerged as a compelling alternative in modelling…
Discovering the governing equations of a physical system and designing an effective feedback controller remains one of the most challenging and intensive areas of ongoing research. This task demands a deep understanding of the system…
Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking…
This paper considers the problem of determining an optimal control action based on observed data. We formulate the problem assuming that the system can be modelled by a nonlinear state-space model, but where the model parameters, state and…
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…
Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…
We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…
We consider the problem of synthesizing a dynamic output-feedback controller for a linear system, using solely input-output data corrupted by measurement noise. To handle input-output data, an auxiliary representation of the original system…
The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-road. The constructed feedback controllers are nonlinear functions of the distance between successive…
Motivated by the goal of having a building block in the direct design of data-driven controllers for nonlinear systems, we show how, for an unknown discrete-time bilinear system, the data collected in an offline open-loop experiment enable…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
Classic control techniques typically rely on a model of the system's response to external inputs, which is difficult to obtain from first principles especially if the unknown dynamics are nonlinear. In this paper, we address this issue by…
This paper presents a kernelized offset-free data-driven predictive control scheme for nonlinear systems. Traditional model-based and data-driven predictive controllers often struggle with inaccurate predictors or persistent disturbances,…
For a discrete-time linear system, we use data from a single open-loop experiment to design directly a feedback controller enforcing that a given (polyhedral) set of the state is invariant and given (polyhedral) constraints on the control…
Output reference tracking of unknown nonlinear systems is considered. The control objective is exact tracking in predefined finite time, while in the transient phase the tracking error evolves within a prescribed boundary. To achieve this,…
A new systematic approach to the construction of approximate solutions to a class of nonlinear singularly perturbed feedback control systems using the boundary layer functions especially with regard to the possible occurrence of the…