Related papers: A Backstepping Control Method for a Nonlinear Proc…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…
We present a three-step method to perform system identification and optimal control of non-linear systems. Our approach is mainly data driven and does not require active excitation of the system to perform system identification. In…
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 deals with the design of nonlinear MPC controllers that provide offset-free setpoint tracking for models described by Neural Nonlinear AutoRegressive eXogenous (NNARX) networks. The NNARX model is identified from input-output…
The online implementation of model predictive control for constrained multivariate systems has two main disadvantages: it requires an estimate of the entire model state and an optimisation problem must be solved online. These issues have…
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…
In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…
In this work, we present a distributed framework based on the graph algorithm for computing control invariant set for nonlinear cascade systems. The proposed algorithm exploits the structure of the interconnections within a process network.…
In this work, a non-linear controller designed using non-linear transformation linearization and feedback is proposed for an inverter connected to a weak grid through a single-stage inductive filter. The proposed strategy is…
We introduce a method for controlling systems with nonlinear dynamics and full actuation by approximating the dynamics with polynomials and applying a system level synthesis controller. We show how to optimize over this class of controllers…
Most of the rigid-body systems which evolve on nonlinear Lie groups where Euclidean control designs lose geometric meaning. In this paper, we introduce a log-linear backstepping control law on SE2(3) that preserves full…
In this article, we propose a nonlinear voltage control to ensure power exchange in a multiport interconnected system, which consists of a bidirectional DC-DC converter and generating-storing devices. The converter topology under…
This paper presents a control reconfiguration approach to improve the performance of two classes of dynamical systems. Motivated by recent research on re-engineering cyber-physical systems, we propose a three-step control retrofit…
This paper presents a model predictive control (MPC) for dynamic systems whose nonlinearity and uncertainty are modelled by deep neural networks (NNs), under input and state constraints. Since the NN output contains a high-order complex…
We propose a synthesis method for the design of digital twins applicable to various systems (pneumatic, hydraulic, electrical/electronic circuits). The methodology allows representing the operation of these systems through an active digital…
In the realm of autonomous vehicle technologies and advanced driver assistance systems, precise and reliable path tracking controllers are vital for safe and efficient navigation. However the presence of dead time in the vehicle control…
In this work we present a workflow for designing two linear control techniques applied to the dynamic system quadruple inverted pendulum mounted on a cart (QIP) where the steady state error on cart position is eliminated through a…
Nonlinear control algorithm for a self-energizing electro-hydraulic brake is analytically designed. The desired closed-loop system behavior is reached via a synthesized nonlinear controller.
An interlaced method to learn and control nonlinear system dynamics from a set of demonstrations is proposed, under a constrained optimization framework for the unsupervised learning process. The nonlinear system is modelled as a mixture of…
In this paper we develop novel results on self triggering control of nonlinear systems, subject to perturbations and actuation delays. First, considering an unperturbed nonlinear system with bounded actuation delays, we provide conditions…