Related papers: Internal Model Based Active Disturbance Rejection …

A three-phase isolated AC-DC-DC power supply is widely used in the industrial field due to its attractive features such as high-power density, modularity for easy expansion and electrical isolation. In high-power application scenarios, it…

Deep Reinforcement Learning (DRL) policies are highly susceptible to adversarial noise in observations, which poses significant risks in safety-critical scenarios. The challenge inherent to adversarial perturbations is that by altering the…

Load shedding has been one of the most widely used and effective emergency control approaches against voltage instability. With increased uncertainties and rapidly changing operational conditions in power systems, existing methods have…

For the aerial manipulator that performs aerial work tasks, the actual operating environment it faces is very complex, and it is affected by internal and external multi-source disturbances. In this paper, to effectively improve the…

We develop the theory of Energy Conserving Descent (ECD) and introduce ECDSep, a gradient-based optimization algorithm able to tackle convex and non-convex optimization problems. The method is based on the novel ECD framework of…

Adversarial attacks and robustness in Deep Reinforcement Learning (DRL) have been widely studied in various threat models; however, few consider environmental state perturbations, which are natural in embodied scenarios. To improve the…

It is typically proven in adaptive control that asymptotic stabilization and tracking holds, and that at best a bounded-noise bounded-state property is proven. Recently, it has been shown in both the pole-placement control and the $d$-step…

The known dynamic regressor extension and mixing method (DREM) is combined with the proposed filter of a new type, which uses the integration operation with forgetting, and the recursive least-squares method to develop the new I-DREM model…

In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which…

This letter proposes an anti-disturbance control scheme for rotor drones to counteract voltage drop (VD) disturbance caused by voltage drop of the battery, which is a common case for long-time flight or aggressive maneuvers. Firstly, the…

We complete the first step towards the resolution of several decades-old challenges in disturbance-robust adaptive control. For a scalar linear system with an unknown parameter for which no a priori bound is given, with a disturbance that…

Disturbance rejection in high-precision control applications can be significantly improved upon via online convex optimization (OCO). This includes classical techniques such as recursive least squares (RLS) and more recent, regret-based…

The scope of this research is a problem of the direct model reference adaptive control of linear time-invariant multi-input multi-output (MIMO) plants without any a priori knowledge about system matrices. To handle it, a new method is…

Anomaly detection in industrial systems is crucial for preventing equipment failures, ensuring risk identification, and maintaining overall system efficiency. Traditional monitoring methods often rely on fixed thresholds and empirical…

This paper presents a new integrated sensing and communication (ISAC) framework, leveraging the recent advancements of reconfigurable distributed antenna and reflecting surface (RDARS). RDARS is a programmable surface structure comprising…

Trajectory optimization of sensing robots to actively gather information of targets has received much attention in the past. It is well-known that under the assumption of linear Gaussian target dynamics and sensor models the stochastic…

This note addresses the output synchronization problem of incrementally output-feedback passive nonlinear systems in the presence of exogenous disturbances. Two kinds of distributed controllers are proposed; one placed at the nodes and the…

Improving robustness to uncertainty and rejection of external disturbances represents a significant challenge in aerial robotics. Nonlinear controllers based on Incremental Nonlinear Dynamic Inversion (INDI), known for their ability in…

Integrated sensing and communication (ISAC) can substantially improve spectral, hardware, and energy efficiency by unifying radar sensing and data communications. In wideband and scattering-rich environments, clutter often dominates weak…

Integrated sensing and communication (ISAC) aims to unify radar and communication systems through a combination of joint hardware, joint waveforms, joint signal design, and joint signal processing. At high carrier frequencies, where ISAC is…