Related papers: Practical Active Disturbance Rejection Control: Bu…
This paper considers the problem of the bearing-based formation control with disturbance rejection for a group of agents under the leader-follower structure. The disturbances are in the form of a trigonometric polynomial with arbitrary…
This paper considers the robustness of event-triggered control of general linear systems against additive or multiplicative frequency-domain uncertainties. It is revealed that in static or dynamic event triggering mechanisms, the sampling…
The Congestion Control (CC) module plays a critical role in the Transmission Control Protocol (TCP), ensuring the stability and efficiency of network data transmission. The CC approaches that are commonly used these days employ…
Robotic manipulators are essential for precise industrial pick-and-place operations, yet planning collision-free trajectories in dynamic environments remains challenging due to uncertainties such as sensor noise and time-varying delays.…
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…
This paper proposes a nonlinear, adaptive controller to increase the stability margin of a direct-current (DC) small-scale electrical network containing a constant power load, whose value is unknown. Due to their negative incremental…
Learning-based adaptive control methods hold the premise of enabling autonomous agents to reduce the effect of process variations with minimal human intervention. However, its application to autonomous underwater vehicles (AUVs) has so far…
We study synchronization of nonlinear systems that satisfy an incremental passivity property. We consider the case where the control input is subject to a class of disturbances, including constant and sinusoidal disturbances with unknown…
In this paper, the parallel multi-extended state observers (ESOs) based active disturbance rejection control approach is proposed to achieve desired tracking performance by automatically selecting the estimation values leading to the least…
Compliance control is essential for safe physical interaction, yet its adoption is limited by hardware requirements such as force torque sensors. While recent reinforcement learning approaches aim to bypass these constraints, they often…
Output regulation is the problem of finding a control input to asymptotically track reference trajectories and reject disturbances. This can be addressed by using the internal model principle to embed a model of the disturbance in the…
The rectification efficiency of an underdamped ratchet operated in the adiabatic regime increases according to a scaling current-amplitude curve as the damping constant approaches a critical threshold; below threshold the rectified signal…
We consider the computation of resilient controllers for perturbed non-linear dynamical systems w.r.t. linear-time temporal logic specifications. We address this problem through the paradigm of Abstraction-Based Controller Design (ABCD)…
At Levels 2 and 3 of autonomous driving defined by the Society of Auto-motive Engineers, drivers must take on certain driving responsibilities, and automated driving must sometimes yield to human control. This situation can occur in real…
Recently, there has been a surge in interest in safe and robust techniques within reinforcement learning (RL). Current notions of risk in RL fail to capture the potential for systemic failures such as abrupt stoppages from system failures…
This paper addresses the problem of regulating the output voltage of a DC-DC buck-boost converter feeding a constant power load,which is a problem of current practical interest. Designing a stabilising controller is theoretically…
It is well-established that a proportional current control gain emulates a resistor in the converter output impedance. Even though this resistance can provide additional damping to grid resonances, its effect for traditional linear current…
This paper addresses frequency regulation under operational constraints in interconnected power systems with high penetration of inverter-based renewable generation. A two-layer control architecture is proposed that combines optimized droop…
In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely…
The topology transition problem of transmission networks is becoming increasingly crucial with topological flexibility more widely leveraged to promote high renewable penetration. This paper proposes a novel methodology to address this…