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A system made up of N interacting species is considered. Self-reaction terms are assumed of the logistic type. Pairwise interactions take place among species according to different modalities, thus yielding a complex asymmetric disordered…
In this work, an advanced motion controller is proposed for buck converter-fed DC motor systems. The design is based on an idea of active disturbance rejection control (ADRC) with its key component being a custom observer capable of…
We introduce a finite dimensional version of backstepping controller design for stabilizing solutions of PDEs from boundary. Our controller uses only a finite number of Fourier modes of the state of solution, as opposed to the classical…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
Adaptive stepsize control is a critical feature for the robust and efficient numerical solution of initial-value problems in ordinary differential equations. In this paper, we show that adaptive stepsize control can be incorporated within a…
Koopman liftings have been successfully used to learn high dimensional linear approximations for autonomous systems for prediction purposes, or for control systems for leveraging linear control techniques to control nonlinear dynamics. In…
We consider controller design for robust output tracking and disturbance rejection for continuous-time periodic linear systems with periodic reference and disturbance signals. As our main results we present four different controllers: A…
Robotic laparoscopic grasper is a surgical tool with minimal invasion. In this robot, achieve goals like precise tracking, stability and disturbance rejection are very important. In this paper, first the stages of modeling and simulating of…
We propose an efficient way of solving optimal control problems for rigid-body systems on the basis of inverse dynamics and the multiple-shooting method. We treat all variables, including the state, acceleration, and control input torques,…
In this paper, we focused on the design of an adaptive backstepping controller (adaptive-BSC) for direct power control (DPC) of a three-phase PWM rectifier. In the proposed system, it is desired to control both the output DC voltage of the…
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…
Passivity-based control (PBC) for port-Hamiltonian systems provides an intuitive way of achieving stabilization by rendering a system passive with respect to a desired storage function. However, in most instances the control law is obtained…
We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique…
In this paper, we propose the reduced model for the full dynamics of a bicycle and analyze its nonlinear behavior under a proportional control law for steering. Based on the Gibbs-Appell equations for the Whipple bicycle, we obtain a…
The complexities in the dynamic model of the legged robots make it necessary to utilize model-free controllers in the task of trajectory tracking. In This paper, an adaptive transpose Jacobian approach is proposed to deal with the dynamic…
A new method for the optimal solutions is proposed. Originating from the continuous-time dynamics stability theory in the control field, the optimal solution is anticipated to be obtained in an asymptotically evolving way. By introducing a…
We provide a detailed proof of Proposition 3.1 in the paper titled ``Backstepping control of a class of space-time-varying linear parabolic PDEs via time invariant kernel functions''. In the paper titled ``Backstepping control of a class of…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
The Poincare function is a compact form of counting moduli in local geometric problems. We discuss its property in relation to V.Arnold's conjecture, and derive this conjecture in the case when the pseudogroup acts algebraically and…
Purpose: This study aims to address the challenges of controlling unstable and nonlinear systems by proposing an adaptive PID controller based on predictive reinforcement learning (PRL-PID), where the PRL-PID combines the advantages of both…