Related papers: Extended PID Control of Nonlinear Uncertain System…
This paper proposes a model predictive controller for discrete-time linear systems with additive, possibly unbounded, stochastic disturbances and subject to chance constraints. By computing a polytopic probabilistic positively invariant set…
Proportional-integral-derivative (PID) controller is widely used across various industrial process control applications because of its straightforward implementation. However, it can be challenging to fine-tune the PID parameters in…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
For a partially unknown linear systems, we present a systematic control design approach based on generated data from measurements of closed-loop experiments with suitable test controllers. These experiments are used to improve the achieved…
This paper investigates the robust output regulation problem of second-order nonlinear uncertain systems with an unknown exosystem. Instead of the adaptive control approach, this paper resorts to a robust control methodology to solve the…
We propose a simple and computationally efficient approach for designing a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertainty is modeled as an additive disturbance and an additive error on the…
A multi-variable PI (proportional integrating) controller is proved to be optimal for an important class of control problems where performance is specified in terms of frequency weighted H-infinity norms. The problem class includes…
When designing controllers for safety-critical systems, practitioners often face a challenging tradeoff between robustness and performance. While robust control methods provide rigorous guarantees on system stability under certain…
We study in this paper the problem of iterative feedback gains tuning for a class of nonlinear systems. We consider Input-Output linearizable nonlinear systems with additive uncertainties. We first design a nominal Input-Output…
This paper presents an overview of the most effective ideas for the Quad-rotor project. The concept of modeling using different methods is presented. The modeling part presented the nonlinear model, and the concept of linearization using…
Tube-enhanced multi-stage nonlinear model predictive control is a robust control scheme that can handle a wide range of uncertainties with reduced conservatism and manageable computational complexity. In this paper, we elaborate on the…
The efficacy of robust optimization spans a variety of settings with uncertainties bounded in predetermined sets. In many applications, uncertainties are affected by decisions and cannot be modeled with current frameworks. This paper takes…
Proportional-Integral-Derivative (PID) scheme is the most commonly used algorithm for designing the controllers for unmanned aerial vehicles (UAVs). However, tuning PID gains is a non trivial task. A number of methods have been developed…
Proportional-Integral-Derivative (PID) control is used for automatically regulating a measurable quantity to a desired setpoint. It is widely used in different types of classical control electronics. Here, we show how extending the feedback…
An approach to stabilization of control systems with ultimately wide ranges of uncertainly disturbed parameters is offered. The method relies on using of nonlinear structurally stable functions from catastrophe theory as controllers.…
In this paper we introduce a new method to design control laws for non-linear underactuated systems. Our method produces an infinite dimensional family of control laws, whereas most control techniques only produce a finite dimensional…
We introduce the concept of a control contraction metric, extending contraction analysis to constructive nonlinear control design. We derive sufficient conditions for exponential stabilizability of all trajectories of a nonlinear control…
A Nonlinear PID (NLPID) controller is proposed to stabilize the translational and rotational motion of a 6-DOF UAV quadrotor system and enforce it to track a given trajectory with minimum energy and error. The complete nonlinear model of…
We consider a stochastic control problem for a class of nonlinear kernels. More precisely, our problem of interest consists in the optimisation, over a set of possibly non-dominated probability measures, of solutions of backward stochastic…
A variety of control systems have been proposed for aircraft autopilot systems. Traditional approaches such as proportional controller and conventional PID (CPID) controller are widely used. PID controller has a good static performance…