Related papers: An Optimal Stable Selective Model Inversion for No…
The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…
This paper proposes a novel direct adaptive control method for rejecting unknown deterministic disturbances and tracking unknown trajectories in systems with uncertain dynamics when the disturbances or trajectories are the summation of…
The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…
In this work we investigate stochastic non-convex optimization problems where the objective is an expectation over smooth loss functions, and the goal is to find an approximate stationary point. The most popular approach to handling such…
Predictor-based stabilization results are provided for nonlinear systems with input delays and a compact absorbing set. The control scheme consists of an inter-sample predictor, a global observer, an approximate predictor, and a nominal…
Feedforward control is essential to achieving good tracking performance in positioning systems. The aim of this paper is to develop an identification strategy for inverse models of systems with nonlinear dynamics of unknown structure using…
This paper studies static output feedback stabilization of continuous-time (incrementally) passive nonlinear systems where the control actions can only be chosen from a discrete (and possibly finite) set of points. For this purpose, we are…
Traditional stochastic optimal control methods that attempt to obtain an optimal feedback policy for nonlinear systems are computationally intractable. In this paper, we derive a decoupling principle between the open loop plan, and the…
Model mismatch and process noise are two frequently occurring phenomena that can drastically affect the performance of model predictive control (MPC) in practical applications. We propose a principled way to tune the cost function and the…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
In this paper we provide a thorough, rigorous theoretical framework to assess optimality guarantees of sampling-based algorithms for drift control systems: systems that, loosely speaking, can not stop instantaneously due to momentum. We…
Recent works have established the utility of sparsity-promoting norms for extracting spatially-localized instability mechanisms in fluid flows, with possible implications for flow control. However, these prior works have focused on linear…
Numerical solutions for the optimal feedback stabilization of discrete time dynamical systems is the focus of this paper. Set-theoretic notion of almost everywhere stability introduced by the Lyapunov measure, weaker than conventional…
We propose a convex optimization procedure for black-box identification of nonlinear state-space models for systems that exhibit stable limit cycles (unforced periodic solutions). It extends the "robust identification error" framework in…
A dynamic backstepping method is proposed to design controllers for nonlinear systems in the pure-feedback form, for which the traditional backstepping method suffers from solving the implicit nonlinear algebraic equation. The idea of this…
A novel probabilistic approach for the design of mechanical structures with friction interfaces is proposed. The objective function is defined as the probability that a specified performance measure of the forced vibration response is…
In this paper, we present a data-driven output feedback controller for nonlinear systems that achieves practical output regulation, using noise-free input/output measurement data. The proposed controller is based on (i) an inverse model of…
We present a data-driven nonlinear predictive control approach for the class of discrete-time multi-input multi-output feedback linearizable nonlinear systems. The scheme uses a non-parametric predictive model based only on input and noisy…
Stability perserving is an important topic in approximation of systems, e.g.\ model reduction. If the original system is stable, we often want the approximation to be stable. But even if an algorithm preserves stability the resulting system…
Neural networks are powerful tools for data-driven modeling of complex dynamical systems, enhancing predictive capability for control applications. However, their inherent nonlinearity and black-box nature challenge control designs that…