Related papers: On the Improved Nonlinear Tracking Differentiator …
Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking…
In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…
By optimizing the predicted performance over a receding horizon, model predictive control (MPC) provides the ability to enforce state and control constraints. The present paper considers an extension of MPC for nonlinear systems that can be…
Nonlinear damping plays a significant role in several area of physics and it is becoming increasingly important to understand its underlying mechanism. However, microscopic origin of nonlinear damping is still a debatable topic. Here, we…
There are limitations on the extent to which manually constructed mathematical models can capture relevant aspects of legged locomotion. Even simple models for basic behaviors such as running involve non-integrable dynamics, requiring the…
This paper studies the immersion and invariance (I&I) adaptive tracking problem for a class of nonlinear systems with nonlinear parameterization in the ISS framework. Under some mild assumptions, a novel I&I adaptive control algorithm is…
Purpose: This study aims to address the challenges of controlling unstable and nonlinear systems by proposing an adaptive PID controller based on predictive reinforcement learning (PRL-PID), where the PRL-PID combines the advantages of both…
For systems in canonical form with nonvanishing uncertainties/disturbances, this work presents an approach to full state regulation within prescribed time irrespective of initial conditions. By introducing the smooth hyperbolic-tangent-like…
Dynamic Time Division Duplex (TDD) has been introduced as a solution to deal with the uplink and downlink traffic asymmetry, mainly observed for dense heterogeneous network deployments. However, the use of this feature requires new…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
Delayed feedback control is an easy realizable control method which generates control force by comparing the current and the delayed version of the system states. In this paper, a new form of the delayed feedback structure is introduced.…
The paper deals with the problem of output regulation in a "non-equilibrium" context for a special class of multivariable nonlinear systems stabilizable by high-gain feedback. A post-processing internal model design suitable for the…
We have fabricated and studied a system of two tunable and coupled nonlinear superconducting resonators. The nonlinearity is introduced by galvanically coupled dc-SQUIDs. We simulate the system response by means of a circuit model, which…
Latent variable models have been widely applied for the analysis of time series resulting from experimental neuroscience techniques. In these datasets, observations are relatively smooth and possibly nonlinear. We present Variational…
TDS-CONTROL is an integrated MATLAB package for the analysis and controller-design of linear time-invariant (LTI) dynamical systems with (multiple) discrete delays, supporting both systems of retarded and neutral type. TDS-CONTROL is based…
Visual-inertial SLAM systems often exhibit suboptimal performance due to multiple confounding factors including imperfect sensor calibration, noisy measurements, rapid motion dynamics, low illumination, and the inherent limitations of…
This article analyzes the high-gain prediction approach for nonlinear input-delay systems. The problem is discussed in the light of weighted homogeneity and input-to-state stability. The canonical form for uniformly observable nonlinear…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
In this paper, an enhancement to the well known Phasor Power Oscillation Damper is proposed, aiming to increase its performance. Fundamental to the functioning of this controller is the estimation of a phasor representing oscillatory…
Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…