Related papers: In-silico Feedback Control of a MIMO Synthetic Tog…
This note addresses the output synchronization problem of incrementally output-feedback passive nonlinear systems in the presence of exogenous disturbances. Two kinds of distributed controllers are proposed; one placed at the nodes and the…
We consider the problem of designing a feedback controller which robustly regulates an LTI system to an optimal operating point in the presence of unmeasured disturbances. A general design framework based on so-called optimality models was…
This paper has developed a closed-loop control algorithm to operate the G2V/V2G action, tested under varying battery voltage conditions and load and source power differences. Under V2G action, to maintain total harmonic distortion under…
This paper, the second of a two-part series, presents a method for mean-field feedback stabilization of a swarm of agents on a finite state space whose time evolution is modeled as a continuous time Markov chain (CTMC). The resulting…
Feedback stabilization of magnetohydrodynamic (MHD) modes is studied in a cylindrical model for a tokamak with resistivity, viscosity and toroidal rotation. The control is based on a linear combination of the normal and tangential…
The reliance on distributed renewable energy has increased recently. As a result, power electronic-based distributed generators replaced synchronous generators which led to a change in the dynamic characteristics of the microgrid. Most…
The key idea behind PID Passivity-based Control (PID-PBC) is to leverage the passivity property of PIDs (for all positive gains) and wrap the PID controller around a passive output to ensure global stability in closed-loop. However, the…
In this paper, the control problem for underactuated systems in the presence of external disturbances and model uncertainties is considered. An adaptive fuzzy sliding mode controller (AFSMC) is proposed to solve the problem, satisfying the…
This paper investigates the design of decentralized output-feedback controllers for a class of a large scale switched nonlinear systems under arbitrary switching laws. A global large scale switched system can be split into a set of smaller…
Co-speech gesture generation is a critical area of research aimed at synthesizing speech-synchronized human-like gestures. Existing methods often suffer from issues such as rhythmic inconsistency, motion jitter, foot sliding and limited…
In the mammalian nervous system, various synaptic plasticity rules act, either individually or synergistically, and over wide-ranging timescales to dictate the processes that enable learning and memory formation. To mimic biological…
We propose a stability analysis method for sampled-data switched linear systems with quantization. The available information to the controller is limited: the quantized state and switching signal at each sampling time. Switching between…
In this paper an attempt is made to extend the concept of the exponentially stable adaptive control to one class of multi-input-multi-output (MIMO) plants with matched nonlinearity and unknown piecewise constant parameters. Within the…
We consider the analytical control design for a pair of switched linear multiple-input multiple-output (MIMO) systems that are subject to arbitrary switching signals. A state feedback controller design method is proposed to obtain an…
The Impulsive Goodwin's Oscillator (IGO) is a mathematical model of a hybrid closed-loop system. It arises by closing a special kind of continuous linear positive time-invariant system with impulsive feedback, which employs both amplitude…
We propose generative channel modeling to learn statistical channel models from channel input-output measurements. Generative channel models can learn more complicated distributions and represent the field data more faithfully. They are…
A common approach in robotics is to learn tasks by generalizing from special cases given by a so-called demonstrator. In this paper, we apply this paradigm and present an algorithm that uses a demonstrator (typically given by a trajectory…
Simulation-to-real transfer using domain randomization for robot control often relies on low-gear-ratio, backdrivable actuators, but these approaches break down when the sim-to-real gap widens. Inspired by the traditional PID controller, we…
Solving motion tasks autonomously and accurately is a core ability for intelligent real-world systems. To achieve genuine autonomy across multiple systems and tasks, key challenges include coping with unknown dynamics and overcoming the…
The output impedance matrices of three-phase grid-connected voltage source converters (VSCs) are widely used in power system stability analysis. Regardless of how the impedance is modeled, there always exist coupling terms in the impedance…