Related papers: A Simulative Study on Active Disturbance Rejection…
Robot interaction control is often limited to low dynamics or low flexibility, depending on whether an active or passive approach is chosen. In this work, we introduce a hybrid control scheme that combines the advantages of active and…
Automated Rule Checking (ARC) plays a crucial role in advancing the construction industry by addressing the laborious, inconsistent, and error-prone nature of traditional model review conducted by industry professionals. Manual assessment…
This paper is concerned with mismatched disturbance rejection control for the second-order discrete-time systems.Different from previous work, the controllability of the system is applied to design the disturbance compensation gain, which…
We consider controller design for robust output tracking and disturbance rejection for continuous-time periodic linear systems with periodic reference and disturbance signals. As our main results we present four different controllers: A…
This paper focuses on adaptive control of the discrete-time linear quadratic regulator (adaptive LQR). Recent literature has made significant contributions in proving non-asymptotic convergence rates, but existing approaches have a few…
Autonomous systems increasingly rely on machine learning techniques to transform high-dimensional raw inputs into predictions that are then used for decision-making and control. However, it is often easy to maliciously manipulate such…
This paper presents a parameter formula connecting the well-known proportional-integralderivative (PID) control and the active disturbance rejection control (ADRC). On the one hand, this formula gives a quantitative lower bound to the…
In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which…
This paper presents an improved active disturbance rejection control scheme (IFO-ADRC) with an improved fractional-order extended state observer (IFO-ESO). The structural information of the system is utilized in IFO-ESO rather than buried…
Many practical applications of optimal control are subject to real-time computational constraints. When applying model predictive control (MPC) in these settings, respecting timing constraints is achieved by limiting the number of…
We consider the problem of robust and adaptive model predictive control (MPC) of a linear system, with unknown parameters that are learned along the way (adaptive), in a critical setting where failures must be prevented (robust). 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…
Control systems are inevitably affected by external disturbances, and a major objective of the control design is to attenuate or eliminate their adverse effects on the system performance. This paper presents a disturbance rejection approach…
This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…
Active vibration control has been introduced and used as one of the effective approaches to suppress unwanted vibrations in different systems. Effective performance of each vibration control method is contingent to accurate design and…
The discrete-time robust repetitive control (RC, or repetitive controller, also designated RC) problem for nonlinear systems is both challenging and practical. This paper proposes a discrete-time output-feedback RC design for a class of…
Action-constrained reinforcement learning (ACRL) is a generic framework for learning control policies with zero action constraint violation, which is required by various safety-critical and resource-constrained applications. The existing…
We propose a distributed model predictive control approach for linear time-invariant systems coupled via dynamics. The proposed approach uses the tube MPC concept for robustness to handle the disturbances induced by mutual interactions…
This article introduces the problem of robust event disturbance rejection. Inspired by the design principle of linear output regulation, a control structure based on excitable systems is proposed. Unlike the linear case, contraction of the…
Autonomous ground vehicles (AGVs) are receiving increasing attention, and the motion planning and control problem for these vehicles has become a hot research topic. In real applications such as material handling, an AGV is subject to large…