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A servomotor is a closed-loop system designed for precise movement control, utilizing position feedback to achieve accurate final positions. Due to the ability to deliver higher power output and operate at enhanced speeds, DC servo motors…
In vehicle dynamics control, engineering a suitable regulator is a long and costly process. The starting point is usually the design of a nominal controller based on a simple control-oriented model and its testing on a full-fledged…
In this paper we present an influence of discontinuous coupling on the dynamics of multistable systems. Our model consists of two periodically forced oscillators that can interact via soft impacts. The controlling parameters are the…
In this paper, we consider controlling a class of single-input-single-output (SISO) commensurate fractional-order nonlinear systems with parametric uncertainty and external disturbance. Based on backstepping approach, an adaptive controller…
In this paper, we present an output feedback based design of event-triggered sliding mode control for delta operator systems. For discrete-time systems, multi-rate output sampling based state estimation technique is very useful if the…
In this paper, the D2-IBC (Data-Driven Inversion Based Control) approach for nonlinear control is introduced and analyzed. The method does not require any a-priori knowledge of the system dynamics and relies on a two degrees of freedom…
We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…
So far, many control algorithms have been developed for singularly perturbed systems. However, in many industrial processes, enforcing closed-loop fast-slow dynamics for peculiarly non-separable ones is a prior request and a crucial issue…
Decentralized stochastic control problems with local information involve problems where multiple agents and subsystems which are coupled via dynamics and/or cost are present. Typically, however, the dynamics of such couplings is complex and…
This paper presents a systematic approach for designing robust linear proportional-integral (PI) servo-controllers that effectively manage control input and output constraints in flight control systems. The control design leverages the…
The paper [TF19] proposes a data-driven control technique for single-input single-output feedback linearizable systems with unknown control gain by relying on a persistency of excitation assumption. This note extends those results by…
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…
We consider controller design for robust output tracking and disturbance rejection for continuous-time periodic linear systems with periodic reference and disturbance signals. As our main results we present four different controllers: A…
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…
We investigate stability analysis and controller design of unknown continuous-time systems under state-feedback with aperiodic sampling, using only noisy data but no model knowledge. We first derive a novel data-dependent parametrization of…
Model predictive control (MPC) is of increasing interest in applications for constrained control of multivariable systems. However, one of the major obstacles to its broader use is the computation time and effort required to solve a…
Traditional dynamic models of continuum robots are in general computationally expensive and not suitable for real-time control. Recent approaches using learning-based methods to approximate the dynamic model of continuum robots for control…
This paper considers the optimization landscape of linear dynamic output feedback control with $\mathcal{H}_\infty$ robustness constraints. We consider the feasible set of all the stabilizing full-order dynamical controllers that satisfy an…
A new technique for performance regulation in event-driven systems, recently proposed by the authors, consists of an adaptive-gain integral control. The gain is adjusted in the control loop by a real-time estimation of the derivative of the…
In this article we present a novel discrete-time design approach which reduces the deteriorating effects of sampling on stability and performance in digitally controlled nonlinear mechanical systems. The method is motivated by recent…