Related papers: Stability and Performance Limits of Latency-Prone …
We consider optimal distributed controller synthesis for an interconnected system subject to communication constraints, in linear quadratic settings. Motivated by the problem of finite heavy duty vehicle platooning, we study systems…
In this work, we propose a robust approach to design distributed controllers for unknown-but-sparse linear and time-invariant systems. By leveraging modern techniques in distributed controller synthesis and structured linear inverse…
This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…
We present a linear model, which mimics the response of a spatially extended dissipative medium to a distant perturbation, and investigate its dynamics under delayed feedback control. The time a perturbation needs to propagate to a…
In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship…
We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…
Recent research shows that supervised learning can be an effective tool for designing near-optimal feedback controllers for high-dimensional nonlinear dynamic systems. But the behavior of neural network controllers is still not well…
The PID controller remains the most widely adopted control architecture, with groundbreaking success across extensive implications. However, optimal parameter tuning for PID controller remains a critical challenge. Existing theories…
The design of optimal dynamic disturbance accommodation controller with limited model information is considered. We adapt the family of limited model information control design strategies, defined earlier by the authors, to handle dynamic…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
We discuss control of bittide distributed systems, which are designed to provide logical synchronization between networked machines by observing data flow rates between adjacent systems at the physical network layer and controlling local…
Reinforcement learning (RL) has become widely adopted in robot control. Despite many successes, one major persisting problem can be very low data efficiency. One solution is interactive feedback, which has been shown to speed up RL…
Achieving stability and robustness is the primary goal of biped locomotion control. Recently, deep reinforce learning (DRL) has attracted great attention as a general methodology for constructing biped control policies and demonstrated…
Platooning of autonomous vehicles has the potential to increase safety and fuel efficiency on highways. The goal of platooning is to have each vehicle drive at a specified speed (set by the leader) while maintaining a safe distance from its…
This paper addresses the problem of collaborative formation control for multi-agent systems with limited resources. We consider a team of robots tasked with achieving a desired formation from an arbitrary initial configuration. To reduce…
This paper develops a novel framework for power system stability analysis, that allows for the decentralized design of inverter based controllers. The method requires that each individual inverter satisfies a standard $H^\infty$ design…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
We study the stabilization of networked control systems with asynchronous sensors and controllers. Offsets between the sensor and controller clocks are unknown and modeled as parametric uncertainty. First we consider multi-input linear…
We design resilient sparse state-feedback controllers for a linear time-invariant (LTI) control system while attaining a pre-specified guarantee on ${\mathcal{H}}_\infty$ performance measure. We leverage a technique from non-fragile control…
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…