Related papers: On the Control Effort in Output Feedback Sliding M…
We study predictive control in a setting where the dynamics are time-varying and linear, and the costs are time-varying and well-conditioned. At each time step, the controller receives the exact predictions of costs, dynamics, and…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
Feedback control algorithms traditionally rely on periodic execution on digital platforms. While this simplifies design and analysis, it often leads to inefficient resource usage (e.g., CPU, network bandwidth) in embedded control and shared…
This paper studies the problem of stabilizing a continuous-time switched linear system by quantized output feedback. We assume that the quantized outputs and the switching signal are available to the controller at all time. We develop an…
Feedback optimization algorithms compute inputs to a system using real-time output measurements, which helps mitigate the effects of disturbances. However, existing work often models both system dynamics and computations in either discrete…
The success of the model predictive path integral control (MPPI) approach depends on the appropriate selection of the input distribution used for sampling. However, it can be challenging to select inputs that satisfy output constraints in…
We present a stochastic constrained output-feedback data-driven predictive control scheme for linear time-invariant systems subject to bounded additive disturbances. The approach uses data-driven predictors based on an extension of Willems'…
In this paper, we develop and analyze an integral fixed-time sliding mode control method for a scenario in which the system model is only partially known, utilizing Gaussian processes. We present two theorems on fixed-time convergence. The…
This paper presents a new data-driven control for multi-input, multi-output nonlinear systems with partially unknown dynamics and bounded disturbances. Since exact nonlinearity cancellation is not feasible with unknown disturbances, we…
We propose an encoding and control strategy for the stabilization of switched systems with limited information, supposing the controller is given for each mode. Only the quantized output and the active mode of the plant at each sampling…
In this paper, the feasibility of recently developed higher order delayed sliding mode controllers is addressed. With this aim the robustness against the measurement noise and mismatched perturbations for the systems governed by such…
Autonomous control systems use various sensors to decrease the amount of uncertainty under which they operate. While providing partial observation of the current state of the system, sensors require resources such as energy, time and…
This paper introduces a new approach for output feedback stabilization of SISO systems which, unlike most of the techniques found in the literature, does not use high-gain observers and control input saturation to achieve separation between…
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…
Sliding mode control (SMC) is a robust and computationally efficient solution for tracking control problems of highly nonlinear systems with a great deal of uncertainty. High frequency oscillations due to chattering phenomena and…
Recent studies have shown that adaptively regulating the sampling rate results in significant reduction in computational resources in embedded software based control. Selecting a uniform sampling rate for a control loop is robust, but…
The objective of this note is to share some reflections of the authors regarding the use of sliding mode designs in control systems. We believe the abundant, and ever increasing, appearance of this kind of works on our scientific…
Robust finite-time feedback controller introduced for the second-order systems in [1] can be seen as a non-overshooting quasi-continuous sliding mode control. The paper proposes a regularization scheme to suppress inherent chattering due to…
In this paper, a sampling-based Stochastic Model Predictive Control algorithm is proposed for discrete-time linear systems subject to both parametric uncertainties and additive disturbances. One of the main drivers for the development of…
This paper presents a novel adaptive multivariable smooth second-order sliding mode approach with the features of fast finite-time convergence, adaptation to disturbances and smooth. This approach can be directly applied to the controller…