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We propose a model reference adaptive controller (MRAC) for uncertain linear time-invariant (LTI) plants with user-defined state and input constraints in the presence of unmatched bounded disturbances. Unlike popular optimization-based…

Challenges in the discrete implementation of sliding-mode controllers (SMC) with barrier-function-based adaptations are analyzed, revealing fundamental limitations in conventional design frameworks. It is shown that under uniform sampling,…

This paper is about robust Model Predictive Control (MPC) for linear systems with additive and multiplicative uncertainty. A novel class of configuration-constrained polytopic robust forward invariant tubes is introduced, which admit a…

A high-performance time-of-flight (TOF) MRPC wall is being built for the CBM experiment at FAIR for charged hadron identification. The detector control system for the TOF system will be based on EPICS. All components like power supplies for…

The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control…

Model-Free Control (MFC) has been applied to a wide variety of systems in which it has shown its performance. MFC offers "model-free operation", but the controller design requires some information from the nominal plant. This paper…

This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy in order to…

This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…

A robust model predictive control (MPC) method is presented for linear, time-invariant systems affected by bounded additive disturbances. The main contribution is the offline design of a disturbance-affine feedback gain whereby the…

This paper presents a robust adaptive learning Model Predictive Control (MPC) framework for linear systems with parametric uncertainties and additive disturbances performing iterative tasks. The approach refines the parameter estimates…

Inspired by recent progress in machine learning, a data-driven fault diagnosis and isolation (FDI) scheme is explicitly developed for failure in the fuel supply system and sensor measurements of the laboratory gas turbine system. A passive…

Contour tracking plays a crucial role in multi-axis motion control systems, and it requires both multi-axial contouring as well as standard servo performance in each axis. Among the existing contouring control methods, the cross coupled…

This paper addresses a formation tracking problem for nonlinear multi-agent systems with time-varying actuator faults, in which only a subset of agents has access to the leader's information over the directed leader-follower network with a…

This paper proposes a novel sliding mode control (SMC) method for a class of affine dynamic systems. In this type of systems, the high-frequency gain matrix (HFGM), which is the matrix multiplying the control vector in the dynamic equation…

Reliability has taken centre stage in the development of high-performance computing processors. A Surge of interest is noticeable in recent times in formulating fault and failure models, understanding failure mechanism and strategizing…

Teams of networked autonomous agents have been used in a number of applications, such as mobile sensor networks and intelligent transportation systems. However, in such systems, the effect of faults and errors in one or more of the…

Filter bank-based multicarrier (FBMC) systems have attracted increasing attention recently in view of their many advantages over the classical cyclic prefix (CP)-based orthogonal frequency division multiplexing (CP-OFDM) modulation.…

Thin-film technologies such as Indium Gallium Zinc Oxide (IGZO) enable Flexible Electronics (FE) for emerging applications in wearable sensing, personal health monitoring, and large-area systems. Analog-to-digital converters (ADCs) serve as…

We provide a method to design adaptive controllers for nonlinear systems using model predictive control (MPC). By combining a certainty-equivalent MPC formulation with least-mean-square parameter adaptation, we obtain an adaptive controller…

Transformer models rely on High-Performance Computing (HPC) resources for inference, where soft errors are inevitable in large-scale systems, making the reliability of the model particularly critical. Existing fault tolerance frameworks for…