Related papers: Matched disturbance rejection for energy-shaping c…

Control systems are inevitably affected by external disturbances, and a major objective of the control design is to attenuate or eliminate their adverse effects on the system performance. This paper presents a disturbance rejection approach…

This paper studies the problem of stabilizing a leader-follower formation specified by a set of bearing constraints and being disturbed by some unknown uniformly bounded disturbance{s}. A set of leaders are positioned at their desired…

This paper describes a novel approach to analyze and control systems with multi-mode oscillation problems. Traditional single dominant mode analysis fails to provide effective control actions when several modes have similar low damping…

In this work, an advanced motion controller is proposed for buck converter-fed DC motor systems. The design is based on an idea of active disturbance rejection control (ADRC) with its key component being a custom observer capable of…

Inverter-based distributed energy resources facilitate the advanced voltage control algorithms in the online setting with the flexibility in both active and reactive power injections. A key challenge is to continuously track the…

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…

Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…

Identifying and suppressing unknown disturbances to dynamical systems is a problem with applications in many different fields. Here we present a model-free method to identify and suppress an unknown disturbance to an unknown system based…

We discuss matching control laws for underactuated systems. We previously showed that this class of matching control laws is completely charactarized by a linear system of first order partial differential equations for one set of variables…

Unwanted vibrations stemming from the energy-optimized design of Delta robots pose a challenge in their operation, especially with respect to precise reference tracking. To improve tracking accuracy, this paper proposes an adaptive…

This letter proposes a method to integrate auxiliary actuators that enhance the task space capabilities of commercial underactuated systems, leaving the internal certified low level controller untouched. The additional actuators are…

This paper addresses the regulation and trajectory-tracking problems for two classes of weakly coupled electromechanical systems. To this end, we formulate an energy-based model for these systems within the port-Hamiltonian framework. Then,…

In commercial robotic systems, it is common to encounter a closed inner-loop torque controller that is not user-modifiable. However, the outer-loop controller, which sends kinematic commands such as position or velocity for the inner-loop…

Optimizing prices for energy demand response requires a flexible controller with ability to navigate complex environments. We propose a reinforcement learning controller with surprise minimizing modifications in its architecture. We suggest…

This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…

Power systems are globally experiencing an unprecedented growth in size and complexity due to the advent of nonconventional generation and consumption technologies. To navigate computational complexity, power system dynamic models are often…

Resilient systems are able to recover quickly and easily from disturbed system states that might result from hazardous events or malicious attacks. In this paper a novel resilience metric for linear time invariant systems is proposed: the…

Taming chaos arising from dissipative non-autonomous nonlinear systems by applying additional harmonic excitations is a reliable and widely used procedure nowadays. But the suppressory effectiveness of generic non-harmonic periodic…

This work proposes a saturated robust controller for a fully actuated multirotor that takes disturbance rejection and rotor thrust saturation into account. A disturbance rejection controller is required to prevent performance degradation in…

This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…