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Sustained research efforts have been devoted to learning optimal controllers for linear stochastic dynamical systems with unknown parameters, but due to the corruption of noise, learned controllers are usually uncertified in the sense that…
How to practically maintain the frequency stability of large-scale power systems by a decentralized way is a simple but non-trivial question. In other words, is it possible to design any local controller without understanding the other…
This paper studies the problem of decentralized measurement feedback stabilization of nonlinear interconnected systems. As a natural extension of the recent development on control vector Lyapunov functions, the notion of output control…
This work is associated with the use of parallel feedforward compensators (PFCs) for the problem of output synchronization over heterogeneous agents and the benefits this approach can provide. Specifically, it addresses the addition of…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
Feedback Linearisation (FBL) is a widely used technique that applies feedback laws to transform input-affine nonlinear control systems into linear control systems, allowing for the use of linear controller design methods such as pole…
In a paper by Willems and coauthors it was shown that persistently exciting data can be used to represent the input-output behavior of a linear system. Based on this fundamental result, we derive a parametrization of linear feedback systems…
The aim of this work is to design an explicit finite dimensional boundary feedback controller of sampled-data form for locally exponentially stabilizing the equilibrium solutions to semilinear parabolic equations. The feedback controller is…
A class of nonlinear control-affine systems with bounded time-varying drift is considered. It is assumed that the control vector fields together with their iterated Lie brackets satisfy Hormander's condition in a neighborhood of the origin.…
This note studies the exponential convergence of input-output signals of discrete-time nonlinear systems composed of a feedback interconnection of a linear time-invariant system and a nonlinear uncertainty. Both the open-loop subsystems are…
This paper proposes a novel control scheme, named self-reflective model predictive control, which takes its own limitations in the presence of process noise and measurement errors into account. In contrast to existing output-feedback MPC…
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…
Feedforward steering control is a key component of hierarchical control architectures for autonomous racing. The goal is to reduce steering corrections from the feedback controllers by predicting the vehicle's inverse lateral dynamics. This…
Mechatronic systems have increasingly stringent performance requirements for motion control, leading to a situation where many factors, such as position-dependency, cannot be neglected in feedforward control. The aim of this paper is to…
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…
This paper develops systematically the output feedback exponential stabilization for a one-dimensional unstable/anti-stable wave equation where the control boundary suffers from both internal nonlinear uncertainty and external disturbance.…
Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based controllers often suffer from control chattering due to corrective…
Suppression of the transient energy growth in subcritical plane Poiseuille flow via feedback control is addressed. It is assumed that the time derivative of any of the velocity components can be imposed at the walls as control input, and…
This paper deals with the trajectory tracking control problem for a class of bilinear systems with unmeasurable states and unknown parameters. Firstly, a full-information controller is suggested that guarantees global tracking under a…
We study the problem of global exponential stabilization of original Burgers' equations and the Burgers' equation with nonlocal nonlinearities by controllers depending on finitely many parameters. It is shown that solutions of the…