Related papers: Application of control-based continuation to a non…

This paper proposes a disturbance-observer-based control (DOBC) scheme for frequency and voltage regulation for a renewable energy sources (RES) integrated power systems. The proposed approach acts a feed-forward control which improves the…

Control Barrier Functions (CBFs) are a powerful tool for ensuring the safety of autonomous systems, yet applying them to nonholonomic robots in cluttered, dynamic environments remains an open challenge. State-of-the-art methods often rely…

Tight-binding (TB) molecular dynamics (MD) has emerged as a powerful method for investigating the atomic-scale structure of materials --- in particular the interplay between structural and electronic properties --- bridging the gap between…

Data-driven model predictive control based on Willems' fundamental lemma has proven effective for linear systems, but extending stability guarantees to nonlinear systems remains an open challenge. In this paper, we establish conditions…

Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However,…

Neural network controllers have shown potential in achieving superior performance in feedback control systems. Although a neural network can be trained efficiently using deep and reinforcement learning methods, providing formal guarantees…

High-power laser technologies are essential in precision manufacturing, defense, and scientific research, where accurate control of the beam profile is paramount. Although several beam-shaping methods exist, they often face implementation…

We propose a robust nonlinear model predictive control (MPC) scheme for trajectory-tracking control of autonomous vehicles at the limits of handling on non-planar road surfaces. We derive the dynamics from first principles and selectively…

The focus of this paper is on the co-design of control and communication protocol for the control of multiple applications with unknown parameters using a distributed embedded system. The co-design consists of an adaptive switching…

This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…

We investigate a driven, one-dimensional system of colloidal particles in a periodically currogated narrow channel subject to a time-delayed feedback control. Our goal is to identify conditions under which the control induces oscillatory,…

In this work, we propose an extension of the previously introduced Corridor Model Predictive Control scheme for high-order and distributed systems, with an application for on-orbit inspection. To this end, we leverage high order control…

Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…

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 show that imposition of non-periodic, in place of periodic, boundary conditions (BC) can alter stability of modes in the Method of characteristics (MoC) employing certain ordinary-differential equation (ODE) numerical solvers. Thus,…

In this paper, we develop a safe control synthesis method that integrates state estimation and parameter estimation within an adaptive optimal control (AOC) and control barrier function (CBF)-based control architecture. The developed…

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…

In this work we study the so-called ModMax nonlinear electrodynamics, which is a novel model designed to preserve duality rotations and conformal transformations, such as the Maxwell's equations do. This model allows to study diverse…

We present a general method for systematically investigating the dynamics and bifurcations of a physical nonlinear experiment. In particular, we show how the odd-number limitation inherent in popular non-invasive control schemes, such as…

The Tribomechadynamics Research Challenge (TRC) was a blind prediction of the vibration behavior of a thin plate clamped on two sides using bolted joints. The first bending mode's natural frequency and damping ratio were requested as…