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

This work provides a framework for data-driven control of discrete time systems with unknown input-output dynamics and outputs controllable by the inputs. This framework leads to stable and robust real-time control of the system such that a…

Robust output regulation for linear time-varying systems has remained an open problem for decades. To address this, we propose the trajectory-matching system immersion framework, by reformulating the regulator equation into a more…

Robust control of quantum systems is an increasingly relevant field of study amidst the second quantum revolution, but there remains a gap between taming quantum physics and robust control in its modern analytical form that culminated in…

Leader-follower tracking control design has received significant attention in recent years due to its important and wide applications. Considering a multi-agent system composed of a leader and multiple followers, this paper proposes and…

Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…

This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-time systems affected by bounded process disturbances are…

Circular variables that represent directions or periodic observations arise in many fields, such as biology and environmental sciences. An important issue when dealing with circular data is how to estimate their dispersion robustly,…

For an unknown linear system, starting from noisy open-loop input-state data collected during a finite-length experiment, we directly design a linear feedback controller that guarantees robust invariance of a given polyhedral set of the…

This paper presents a new theory, known as robust dynamic pro- gramming, for a class of continuous-time dynamical systems. Different from traditional dynamic programming (DP) methods, this new theory serves as a fundamental tool to analyze…

This article provides a historical perspective of the field of adaptive control over the past seven decades and its intersection with learning. A chronology of key events over this large time-span, problem statements that the field has…

The effects of model parameter uncertainty on traffic flow control problems have recently drawn research attention. While the uncertainty in fundamental diagram related parameters has been investigated in the past, few articles have focused…

This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…

This paper investigates the synthesis of robust controllers from logical specification of regular properties given in an interval temporal logic QDDC. Our specification encompasses both hard robustness and soft robustness. Here, hard…

This paper presents a new HPDOb that significantly improves disturbance estimation accuracy and robustness in motion control systems, surpassing the capabilities of conventional DObs. The proposed observer is analysed and synthesised in the…

This paper investigates the synthesis of controllers for displacement-based formation control in the presence of bounded disturbances, specifically focusing on uncertainties originating from measurement noise. While the literature…

A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…

Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…

A new disturbance observer based control scheme is developed for a quadrotor under the concurrent disturbances from a lightweight elastic tether cable and a lumped vertical disturbance. This elastic tether is unusual as it creates a…

We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…

This paper addresses the problem of controlling constrained systems subject to disturbances in the case where controller and system are connected over a lossy network. To do so, we propose a novel framework that splits the concept of…