Related papers: Observer-based correct-by-design controller synthe…
Learning to perform perfect tracking tasks based on measurement data is desirable in the controller design of systems operating repetitively. This motivates the present paper to seek an optimization-based design approach for iterative…
This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…
We address the problem of retrieving the full state of a network of R\"ossler systems from the knowledge of the actual state of a limited set of nodes. The selection of the nodes where sensors are placed is carried out in a hierarchical way…
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…
The paper considers the design of a nonlinear dissipative impulsive observer based on non-periodic discrete-time measurements. Sufficient conditions are derived for (i) exponential convergence of the observer in absence of measurement…
This paper proposes a novel input-output parametrization of the set of internally stabilizing output-feedback controllers for linear time-invariant (LTI) systems. Our underlying idea is to directly treat the closed-loop transfer matrices…
We propose novel controller synthesis techniques for probabilistic systems modelled using stochastic two-player games: one player acts as a controller, the second represents its environment, and probability is used to capture uncertainty…
This paper investigates the design of reduced-order observers for robotic manipulators. Observer stability conditions are obtained based on a Lyapunov analysis and the proposed observer is enhanced with a hybrid scheme that may adjust the…
Recent work in data-driven control has led to methods that find stabilizing controllers directly from measurements of an unknown system. However, for multi-agent systems we are often interested in finding controllers that take their…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
This paper shows how the theory of adaptive observers can be effectively used in the design internal models for nonlinear output regulation. The main result obtained in this way is a new method for the synthesis of adaptive internal models…
When designing optimal controllers for any system, it is often the case that the true state of the system is unknown to the controller, for example due to noisy measurements or partially observable states. Incomplete state information must…
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…
The state estimation of continuous-time nonlinear systems in which a subset of sensor outputs can be maliciously controlled through injecting a potentially unbounded additive signal is considered in this paper. Analogous to our earlier work…
This article focuses on the development of functional unknown input observers for systems with arbitrary relative degree. Two distinct approaches are presented to address this challenge. The first approach is tailored to a class of…
In this paper, we present a provably correct controller synthesis approach for switched stochastic control systems with metric temporal logic (MTL) specifications with provable probabilistic guarantees. We first present the stochastic…
We design observer-based controllers to stabilise abstract linear boundary control systems on Hilbert spaces. Our main results introduce conditions for exponential, strong, and polynomial stability, and establish external well-posedness of…
A new approach to design of nonlinear observers (state estimators) is proposed. The main idea is to (i) construct a convex set of dynamical systems which are contracting observers for a particular system, and (ii) optimize over this set for…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
Recent advances in learning for control allow to synthesize vehicle controllers from learned system dynamics and maintain robust stability guarantees. However, no approach is well-suited for training linear time-invariant (LTI) controllers…