Related papers: Output Regulation for Systems on Matrix Lie-group
In this paper we study the problem of computing minimum-energy controls for linear systems from experimental data. The design of open-loop minimum-energy control inputs to steer a linear system between two different states in finite time is…
Predictive control, which is based on a model of the system to compute the applied input optimizing the future system behavior, is by now widely used. If the nominal models are not given or are very uncertain, data-driven model predictive…
We study the problem of learning the input-output map of a controlled vibrating plate with a composite structure from experimental measurements. Analytical modeling of this control system faces challenges due to the essential orthotropy and…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
This paper provides a new observer design methodology for invariant systems whose state evolves on a Lie group with outputs in a collection of related homogeneous spaces and where the measurement of system input is corrupted by an unknown…
A wide range of multi-agent coordination problems including reference tracking and disturbance rejection requirements can be formulated as a cooperative output regulation problem. The general framework captures typical problems such as…
We study distributed output feedback control for a heterogeneous multi-agent system (MAS), consisting of N different continuous-time linear dynamical systems. For achieving output consensus, a virtual reference model is assumed to generate…
In this paper we present a direct adaptive control method for a class of uncertain nonlinear systems with a time-varying structure. We view the nonlinear systems as composed of a finite number of ``pieces,'' which are interpolated by…
In this article we derive a Pontryagin maximum principle (PMP) for discrete-time optimal control problems on matrix Lie groups. The PMP provides first order necessary conditions for optimality; these necessary conditions typically yield two…
The paper deals with the data-based design of state-feedback controllers that solve the output regulation problem for a class of nonlinear systems. Inspired by recent developments in model-based output regulation design techniques and in…
In this work, we address the design of tracking controllers that drive a mechanical system's state asymptotically towards a reference trajectory. Motivated by aerospace and robotics applications, we consider fully-actuated systems evolving…
This paper studies a stabilization problem for linear MIMO systems subject to external perturbation that further requires the closed-loop system render a specified gain from the external perturbation to the output. The problem arises from…
Motivated by the inadequacy of the existing control strategies for power systems affected by time-varying uncontrolled power injections such as loads and the increasingly widespread renewable energy sources, this paper proposes two control…
This paper develops adaptive output tracking control schemes with the reference output signal generated from an unknown reference system whose output derivatives are also unknown. To deal with such reference system uncertainties, an…
In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…
In this paper the robust cooperative output regulation problem for multi-agent systems (MAS) with general heterodirectional hyperbolic PIDE-ODE agents is considered. This setup also covers networks of ODEs with arbitrarily long input and…
We consider the problem of estimating the state and unknown input for a large class of nonlinear systems subject to unknown exogenous inputs. The exogenous inputs themselves are modeled as being generated by a nonlinear system subject to…
The paper discusses various aspects of time-optimal control of quantum spin systems, modelled as right-invariant systems on a compact Lie group G. The main results are the reduction of such a system to an equivalent system on a homogeneous…
Motivated by the application of using model predictive control (MPC) for motion planning of autonomous mobile robots, a form of output tracking MPC for non-holonomic systems and with non-convex constraints is studied. Although the…
This paper studies regularity properties of optimization-based controllers, which are obtained by solving optimization problems where the parameter is the system state and the optimization variable is the input to the system. Under a wide…