Related papers: Learning Precisely Timed Feedforward Control of th…
Precision contouring control is crucial in industrial machining processes, particularly for applications such as laser and water jet cutting, where contouring accuracy directly determines product quality. This paper presents a novel control…
Because they represent physical systems with propagation delays, hyperbolic systems are well suited for feedforward control. This is especially true when the delay between a disturbance and the output is larger than the control delay. In…
In this work, we propose a rigorous method for implementing predictor feedback controllers in nonlinear systems with unknown and arbitrarily long actuator delays. To address the analytically intractable nature of the predictor, we…
In standard reinforcement learning settings, agents typically assume immediate feedback about the effects of their actions after taking them. However, in practice, this assumption may not hold true due to physical constraints and can…
We demonstrate that time-delayed feedback control can be improved by adaptively tuning the feedback gain. This adaptive controller is applied to the stabilization of an unstable fixed point and an unstable periodic orbit embedded in a…
The work show in this paper progresses through a sequence of physics-based increasing fidelity models that are used to design the robot controllers that respect the limits of the robot capabilities, develop a reference simple controller…
In the context of event-triggered control, the timing of the triggering events carries information about the state of the system that can be used for stabilization. At each triggering event, not only can information be transmitted by the…
The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…
We explore theoretically the navigation of an active particle based on delayed feedback control. The delayed feedback enters in our expression for the particle orientation which, for an active particle, determines (up to noise) the…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
Feedback control plays a central role in active matter, yet it is inevitably accompanied by noise and finite perception--action delays. This Perspective reviews recent advances on active systems with delayed interactions, showing how time…
A reliable controller is critical for execution of safe and smooth maneuvers of an autonomous vehicle. The controller must be robust to external disturbances, such as road surface, weather, wind conditions, and so on. It also needs to deal…
Feedforward control can greatly improve the response time and control accuracy of any mechatronic system. However, in order to compensate for the effects of modeling errors or disturbances, it is imperative that this type of control works…
Unpredictable sensor-to-estimator delays fundamentally distort what matters for wireless remote state estimation: not just freshness, but how delay interacts with sensor informativeness and energy efficiency. In this paper, we present a…
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and…
PID control is commonly utilized in an active suspension system to achieve desirable chassis attitude, where, due to delays, feedback information has much difficulty regulating the roll and pitch behavior, and stabilizing the chassis…
Using the policy gradient algorithm, we train a single-hidden-layer neural network to balance a physically accurate simulation of a single inverted pendulum. The trained weights and biases can then be transferred to a physical agent, where…
This paper presents a safe delay-adaptive control for a strict-feedback nonlinear ODE with a delayed actuator, whose dynamic is also a strict-feedback nonlinear ODE and the delay length is unknown. By formulating the delay as a transport…
We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different…
Applying Deep Learning to control has a lot of potential for enabling the intelligent design of robot control laws. Unfortunately common deep learning approaches to control, such as deep reinforcement learning, require an unrealistic amount…