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The paper presents a feedforward plus feedback controller structure with I and PI controllers for control of an integrating process with dead time. Guidelines for controller gain selection based on time domain specifications of damping…
This paper describes a robust linear time-invariant output-feedback control strategy to reduce turbulent fluctuations, and therefore skin-friction drag, in wall-bounded turbulent fluid flows, that nonetheless gives performance guarantees in…
This paper presents a low-complexity, model-free, output-feedback controller for a class of unknown time-varying nonlinear systems with unknown input constraints. The controller achieves the preset control accuracy when the actuator is not…
We propose an information-theoretic framework for analyzing control systems based on the close relationship of controllers to communication channels. A communication channel takes an input state and transforms it into an output state. A…
Smart manufacturing aims to overcome the limitations of today's rigid assembly lines by making the material flow and manufacturing process more flexible, versatile, and scalable. The main economic drivers are higher resource and cost…
A learning method is proposed for Koopman operator-based models with the goal of improving closed-loop control behavior. A neural network-based approach is used to discover a space of observables in which nonlinear dynamics is linearly…
Forecasting and decision-making are generally modeled as two sequential steps with no feedback, following an open-loop approach. In this paper, we present application-driven learning, a new closed-loop framework in which the processes of…
We present an open-loop (bang-bang) scheme which drives an open two-level quantum system to any target state, while maintaining quantum coherence throughout the process. The control is illustrated by a realistic simulation for both…
Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…
In this article, the definition on the control ability, and the relation between the open-loop control ability and the closed-loop performance are studied systematically for the linear dynamical systems. Firstly, to define and compare…
We consider the problem of robotic planning under uncertainty. This problem may be posed as a stochastic optimal control problem, complete solution to which is fundamentally intractable owing to the infamous curse of dimensionality. We…
Systems with a high number of inputs compared to the degrees of freedom (e.g. a mobile robot with Mecanum wheels) often have a minimal set of energy-efficient inputs needed to achieve a main task (e.g. position tracking) and a set of…
The data-driven techniques have been developed to deal with the output regulation problem of unknown linear systems by various approaches. In this paper, we first extend an existing algorithm from single-input single-output linear systems…
We introduce and analyze a model for decentral- ized control. The model is broad enough to include problems such as formation control, decentralization of the power grid and flocking. The objective of this paper is twofold. First, we show…
This paper presents a model based experimental investigation to demonstrate the usefulness of an active damping strategy to manage fluid sloshing motion in spacecraft tanks. The active damping strategy is designed to reduce the degrading…
Various biological system models have been proposed in systems biology, which are based on the complex biological reactions kinetic of various components. These models are not practical because we lack of kinetic information. In this paper,…
In this paper, we focus on developing driver-in-the loop fuel economic control strategy for multiple connected vehicles. The control strategy is considered to work in a driver assistance framework where the controller gives command to a…
Underactuated systems pose the challenge of being able to control a plant whose degrees of freedom are not necessarily directly linked to an actuator or where such a relationship is not straightforward. Rotary inverted pendulum is an…
We show that the energy required by a turbulent flow to displace a given amount of fluid through a straight duct in a given time interval can be reduced by modulating in time the pumping power. The control strategy is hybrid: it is passive,…
Model-free learning-based control methods have seen great success recently. However, such methods typically suffer from poor sample complexity and limited convergence guarantees. This is in sharp contrast to classical model-based control,…