Related papers: Active Disturbance Rejection Based Robust Trajecto…
This paper deals with the trajectory tracking control problem for a class of bilinear systems with unmeasurable states and unknown parameters. Firstly, a full-information controller is suggested that guarantees global tracking under a…
This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…
By employing a unified state-space design framework, this paper proposes a novel systematic analysis and synthesis method that facilitates the implementation of both conventional zero-order (ZO) and high-order (HO) DObs. Furthermore, this…
A robust model predictive control (MPC) method is presented for linear, time-invariant systems affected by bounded additive disturbances. The main contribution is the offline design of a disturbance-affine feedback gain whereby the…
Model Predictive Control (MPC) is a powerful control strategy; however, its reliance on online optimization poses significant challenges for implementation on systems with limited computational resources. One possible approach to address…
This paper presents an application of adaptive control algorithm in order to reject the external disturbances in dual-stage hard disk drives. For this purpose, a dual PID controller is first designed without the plant exposure to external…
This work presents a safe control design approach that integrates the disturbance observer (DOB) and the control barrier function (CBF) for systems with external disturbances. Different from existing robust CBF results that consider the…
We complete the first step towards the resolution of several decades-old challenges in disturbance-robust adaptive control. For a scalar linear system with an unknown parameter for which no a priori bound is given, with a disturbance that…
Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…
This paper presents a novel approach to robust load disturbance rejection in DC-DC Buck converters. We propose a novel control scheme based on the design of two nested feedback loops. First, we design the controller in the outer loop using…
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…
This paper describes the design of a robust controller for position control in systems with sandwiched backlash. The backlash, which is nonsmooth and nonlinear, is inevitable in the operation of many systems, but it can have destructive…
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…
We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…
Disturbance Observer has been one of the most widely used robust control tools since it was proposed in 1983. This paper introduces the origins of Disturbance Observer and presents a survey of the major results on Disturbance Observer-based…
Tilted hexarotors embody a technology that remains partially unexploited in terms of its potential, especially concerning precise and concurrent position and attitude control. Focusing on these aerial platforms, we propose two control…
This paper considers the design of robust state observers for a class of slope-restricted nonlinear descriptor systems with unknown time-varying parameters belonging to a known set. The proposed design accounts for process disturbances and…
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…
Despite decades of research and recent progress in adaptive control and reinforcement learning, there remains a fundamental lack of understanding in designing controllers that provide robustness to inherent non-asymptotic uncertainties…