Related papers: m-Order Time Optimal Control Synthesis Function of…
This paper analyses and synthesises the Disturbance Observer (DOb) based motion control systems in the discrete-time domain. By employing Bode Integral Theorem, it is shown that continuous-time analysis methods fall-short in explaining the…
Continuous-time generative models have achieved remarkable success in image restoration and synthesis. However, controlling the composition of multiple pre-trained models remains an open challenge. Current approaches largely treat…
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 order to deal with issues caused by the increasing penetration of renewable resources in power systems, this paper proposes a novel distributed frequency control algorithm for each generating unit and controllable load in a transmission…
According to the well-known loop shaping method for the design of controllers, the performance of the controllers in terms of step response, steady-state disturbance rejection and noise attenuation and robustness can be improved by…
This paper studies distributionally robust regret-optimal (DRRO) control with purified output feedback for linear systems subject to additive disturbances and measurement noise. These uncertainties (including the initial system state) are…
The periodic signal tracking and the unknown disturbance rejection under limited communication resources are main important issues in many physical systems and practical applications. The control of such systems has some challenges such as…
Collecting robotic manipulation data is expensive, making it impractical to acquire demonstrations for the combinatorially large space of tasks that arise in multi-object, multi-robot, and multi-environment settings. While recent generative…
This paper presents a synthesis method for the generalised dynamic regret problem, comparing the performance of a strictly causal controller to the optimal non-causal controller under a weighted disturbance. This framework encompasses both…
This paper considers a disturbance attenuation problem for a linear discrete time invariant system under random disturbances with imprecisely known probability distributions. The statistical uncertainty is measured in terms of relative…
We study the control of finite-state systems driven by exogenous disturbances, and design causal policies that track the performance of a lookahead benchmark controller. This objective is formalized through dynamic regret, so that favorable…
This paper focuses on optimal mismatched disturbance rejection control for linear continuoustime uncontrollable systems. Different from previous studies, by introducing a new quadratic performance index to transform the mismatched…
This paper contributes to the design of a fractional order (FO) internal model controller (IMC) for a first order plus time delay (FOPTD) process model to satisfy a given set of desired robustness specifications in terms of gain margin (Am)…
This paper provides a solution to the problem of safe region formation control with reference velocity tracking for a second-order multi-agent system without velocity measurements. Safe region formation control is a control problem where…
This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first…
We present a controller synthesis algorithm for reach-avoid problems for piecewise linear discrete-time systems. Our algorithm relies on SMT solvers and in this paper we focus on piecewise constant control strategies. Our algorithm…
The performance of active disturbance rejection control (ADRC) algorithms can be limited in practice by high-frequency measurement noise. In this work, this problem is addressed by transforming the high-gain extended state observer (ESO),…
In this paper, we propose a novel data-driven predictive control approach for systems subject to time-domain constraints. The approach combines the strengths of H-infinity control for rejecting disturbances and MPC for handling constraints.…
This paper presents a novel distributed model predictive control (MPC) formulation without terminal cost and a corresponding distributed synthesis approach for distributed linear discrete-time systems with coupled constraints. The proposed…
Control barrier functions are mathematical constructs used to guarantee safety for robotic systems. When integrated as constraints in a quadratic programming optimization problem, instantaneous control synthesis with real-time performance…