Related papers: Robust static output feedback control using a Part…
Motion planning is a key element of robotics since it empowers a robot to navigate autonomously. Particle Swarm Optimization is a simple, yet a very powerful optimization technique which has been effectively used in many complex…
Analog circuit design can be formulated as a non-linear constrained optimisation problem that can be solved using any suitable optimisation algorithms. Different optimisation techniques have been reported to reduce the design time of analog…
Output feedback control design for linear time-invariant systems in the presence of sporadic measurements and exogenous perturbations is addressed. To cope with the sporadic availability of measurements of the output, a hybrid dynamic…
This paper considers the robust cooperative output regulation for a network of parabolic PDE systems. The solution of this problem is obtained by extending the cooperative internal model principle from finite to infinite dimensions. For a…
This paper proposes a control algorithm for stable implementation of asynchronous parallel quadratic programming (PQP) through dual decomposition technique. In general, distributed and parallel optimization requires synchronization of data…
This paper studies the linear quadratic regulation (LQR) problem of unknown discrete-time systems via dynamic output feedback learning control. In contrast to the state feedback, the optimality of the dynamic output feedback control for…
This paper presents a dual receding horizon output feedback controller for a general non linear stochastic system with imperfect information. The novelty of this controller is that stabilization is treated, inside the optimization problem,…
The linear quadratic regulator is the fundamental problem of optimal control. Its state feedback version was set and solved in the early 1960s. However the static output feedback problem has no explicit-form solution. It is suggested to…
This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid…
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…
Feedback optimization has emerged as a promising approach for regulating dynamical systems to optimal steady states that are implicitly defined by underlying optimization problems. Despite their effectiveness, existing methods face two key…
In this paper, we characterize the set of static-state feedbacks that stabilize a given continuous linear-time invariant system pair using dissipative Hamiltonian matrices. This characterization results in a parametrization of feedbacks in…
Decentralized swarm robotic solutions to searching for targets that emit a spatially varying signal promise task parallelism, time efficiency, and fault tolerance. It is, however, challenging for swarm algorithms to offer scalability and…
This paper solves the robust hybrid output regulation problem for arbitrary uncertain hybrid MIMO linear systems with periodic jumps without the restrictive assumptions used in all previous works on the subject. A necessary condition for…
This paper presents a set of robust PI tuning formulae for a first order plus dead time process using particle swarm optimization. Also, tuning formulae for an integrating process with dead time, which is a special case of a first order…
This paper proposes novel approaches to design hierarchical decentralized robust controllers for homogeneous linear multi-agent systems (MASs) perturbed by disturbances/noise. Firstly, based on LQR method, we present a systematic procedure…
This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first…
This paper gives a new solution to the output feedback H2 problem for quadratically invariant communication delay patterns. A characterization of all stabilizing controllers satisfying the delay constraints is given and the decentralized H2…
In this paper, a new approach has been presented to design sub-optimal state feedback regulators over Networked Control Systems (NCS) with random packet losses. The optimal regulator gains, producing guaranteed stability are designed with…
We present a numerically tractable formulation for computing the optimal control of the class of hybrid dynamical systems whose trajectories are continuous. Our formulation, an extension of existing relaxed-control techniques for switched…