Related papers: Feedback Synthesis For Underactuated Systems Using…
In this paper, we study feedback dynamical systems with memoryless controllers under imperfect information. We develop an algorithm that searches for "adversarial scenarios", which can be thought of as the strategy for the adversary…
Mechanical systems are often characterized only by their response to certain loads known from experiments or simulations. The obtained data can be used for various purposes: system analysis, design of mathematical models, or construction of…
Shifting away from the traditional mass production approach, the process industry is moving towards more agile, cost-effective and dynamic process operation (next-generation smart plants). This warrants the development of control systems…
In this paper we propose dynamic output-feedback controller synthesis methods for discrete-time linear time-invariant systems. The synthesis goal is either to achieve dissipativity with respect to a given quadratic supply rate, or to…
In this paper, we derive closed-form expressions for implicit controlled invariant sets for discrete-time controllable linear systems with measurable disturbances. In particular, a disturbance-reactive (or disturbance feedback) controller…
This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow…
Feedback is an essential composition operator in many classes of reactive and other systems. This paper studies feedback in the context of compositional theories with refinement. Such theories allow to reason about systems on a…
This paper investigates the decentralized stabilization problem for a class of interconnected systems in the presence of non-triangular structural uncertainties and time-varying parameters, where each subsystem exchanges information only…
Objective: To present the first real-time a posteriori error-driven adaptive finite element approach for real-time simulation and to demonstrate the method on a needle insertion problem. Methods: We use corotational elasticity and a…
We demonstrate how to use feedback to control the internal states of trapped coherent ensembles of two-level atoms, and to protect a superposition state against the decoherence induced by a collective noise. Our feedback scheme is based on…
This paper discusses the systematic design of an adaptive feedback linearizing neurocontroller for a high-order model of the synchronous machine/infinite bus power system. The power system is first modelled as an input-output nonlinear…
In this paper we propose a data-driven output-feedback controller synthesis method for discrete-time linear time-invariant systems in a specific autoregressive form. The synthesis goal is either to achieve dissipativity with respect to a…
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 develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…
We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer uses a simplified model of system dynamics for trajectory…
Very high dimensional nonlinear systems arise in many engineering problems due to semi-discretization of the governing partial differential equations, e.g. through finite element methods. The complexity of these systems present…
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…
Autonomous agents are often tasked with operating in an area where feedback is unavailable. Inspired by such applications, this paper develops a novel switched systems-based control method for uncertain nonlinear systems with temporary loss…
We present an adaptive reduced-order model for the efficient time-resolved simulation of fluid-structure interaction problems with complex and non-linear deformations. The model is based on repeated linearizations of the structural balance…
This paper derives for non-linear, time-varying and feedback linearizable systems simple controller designs to achieve specified state-and timedependent complex convergence rates. This approach can be regarded as a general gain-scheduling…