Related papers: Disturbance Observer-based Robust Control and Its …

This paper proposes a framework to design an event-triggered based robust control law for linear uncertain system. The robust control law is realized through both static and dynamic event-triggering approach to reduce the computation and…

This paper introduces a novel approach to the optimal control of linear discrete-time systems subject to bounded disturbances. Our approach is based on the newly established duality between ellipsoidal approximations of reachable and hardly…

In this note, a new reciprocal resistance-based control barrier function (RRCBF) is developed to enhance the robustness of control barrier functions for disturbed affine nonlinear systems, without requiring explicit knowledge of disturbance…

This paper studies robust tracking control for a leader-follower multi-agent system (MAS) subject to disturbances. A challenging problem is considered here, which differs from those in the literature in two aspects. First, we consider the…

This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…

As an alternative to both classical PID-type and modern model-based approaches to solving control problems, active disturbance rejection control (ADRC) has gained significant traction in recent years. With its simple tuning method and…

Robust controller synthesis attracts reviving research interest, driven by the rise of learning-based systems where uncertainty and perturbation are ubiquitous. Facing an uncertain situation, a robustly stabilizing controller should…

Linear models with additive unknown-but-bounded input disturbances are extensively used to model uncertainty in robust control systems design. Typically, the disturbance set is either assumed to be known a priori or estimated from data…

Inverter-based distributed energy resources facilitate the advanced voltage control algorithms in the online setting with the flexibility in both active and reactive power injections. A key challenge is to continuously track the…

Stability and control of a non-linear system represent an important system configuration that frequently arises in practical engineering. Stability covers a vast range of systems that do not obey the superposition principle and applies to…

As power systems become more and more interconnected, the inter-area oscillations has become a serious factor limiting large power transfer among different areas. Underdamped (Undamped) inter-area oscillations may cause system breakup and…

Model-free adaptive optimization methods are capable of optimizing unknown, time-varying processes even when other optimization methods are not. However, their practical application is often limited by perturbations that are used to gather…

We consider the problem of stabilization of a linear system, under state and control constraints, and subject to bounded disturbances and unknown parameters in the state matrix. First, using a simple least square solution and available…

We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems interacting with partially known, time-varying environments. Given…

Distributionally robust control is a well-studied framework for optimal decision making under uncertainty, with the objective of minimizing an expected cost function over control actions, assuming the most adverse probability distribution…

This paper addresses the design of robust dynamic output feedback control for highly uncertain systems in which the unknown disturbance might be excited by the derivative of the control input. This context appears in many industrial…

Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…

This thesis is concerned with the rejection of time-varying disturbances in linear model predictive control of discrete-time systems. In the literature, disturbances are widely rejected by using velocity models, disturbance model with…

This paper studies the robust optimal control design for uncertain nonlinear systems from a perspective of robust adaptive dynamic programming (robust-ADP). The objective is to fill up a gap in the past literature of ADP where dynamic…

Control design for general nonlinear robotic systems with guaranteed stability and/or safety in the presence of model uncertainties is a challenging problem. Recent efforts attempt to learn a controller and a certificate (e.g., a Lyapunov…