Related papers: Practical Active Disturbance Rejection Control: Bu…
We consider the problem of adaptive control of a class of feedback linearizable plants with matched parametric uncertainties whose states are accessible, subject to state constraints, which often arise due to safety considerations. In this…
How difficult can it be to implement a PID controller? The answer is twofold. Implementing the PID control law is simple and computationally inexpensive. However, this basic form will not work in practical applications. The primary reason…
The Available Bit Rate (ABR) service has been developed to support data applications over Asynchronous Transfer Mode (ATM) networks. The network continuously monitors its traffic and provides feedback to the source end systems. This paper…
This paper proposes a new fraction-order active disturbance rejection controller based on an improved fraction-order extended state observer (IFESO) for a class of fraction-order systems. Applying the IFESO, the fraction-order system can be…
We consider a two-level discrete-time control framework with real-time constraints where a central controller issues setpoints to be implemented by local controllers. The local controllers implement the setpoints with some approximation and…
Continuous-control reinforcement learning (RL) often exhibits large closed-loop variance, high-frequency control jitter, and sensitivity to disturbance injection. Existing explanations usually emphasize disturbance sources such as action…
This paper studies the problem of safe control of sampled-data systems under bounded disturbance and measurement errors with piecewise-constant controllers. To achieve this, we first propose the High-Order Doubly Robust Control Barrier…
There is increasing interest in control frameworks capable of moving robots from industrial cages to unstructured environments and coexisting with humans. Despite significant improvement in some specific applications (e.g., medical…
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…
The periodic signal tracking and the unknown disturbance rejection under limited communication resources are main important issues in many physical systems and practical applications. The control of such systems has some challenges such as…
Considerable efforts have been made to address the resonance issue of the Direct-drive Permanent Magnet Synchronous Generator (D-PMSG) wind farm integrated power systems. However, the D-PMSG controller structure and parameters are concealed…
The dynamics of a platoon of adaptive cruise control vehicles is analyzed for a general mechanical response of the vehicle's power-train. Effects of acceleration-feedback control that were not previously studied are found. For small…
This paper proposes a disturbance-observer-based control (DOBC) scheme for frequency and voltage regulation for a renewable energy sources (RES) integrated power systems. The proposed approach acts a feed-forward control which improves the…
In this paper we consider trajectory tracking problem for robotic systems affected by unknown external perturbations. Considering possible solutions, we restrict our attention to composite adaptation, which, particularly, ensures parametric…
This letter introduces an intelligent Real-time Dual-functional Radar-Communication (iRDRC) system for autonomous vehicles (AVs). This system enables an AV to perform both radar and data communications functions to maximize bandwidth…
We present enhancements to the TCP-Friendly Rate Control mechanism (TFRC) designed to better handle the intermittent connectivity occurring in mobility situations. Our aim is to quickly adapt to new network conditions and better support…
In this paper, the control problem for underactuated systems in the presence of external disturbances and model uncertainties is considered. An adaptive fuzzy sliding mode controller (AFSMC) is proposed to solve the problem, satisfying the…
Deep reinforcement learning (DRL) has shown remarkable success in simulation domains, yet its application in designing robot controllers remains limited, due to its single-task orientation and insufficient adaptability to environmental…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
An adaptive system for the suppression of vibration transmission using a single piezoelectric actuator shunted by a negative capacitance circuit is presented. It is known that using negative capacitance shunt, the spring constant of…