Related papers: Vector relative degree and funnel control for diff…
In this paper, we introduce a new concept namely degree polynomial for vertices of a simple graph. This notion leads to a concept namely degree polynomial sequence which is stronger than the concept of degree sequence. After obtaining the…
We will show that there is a universal connection between the achievable closed-loop dynamics and the corresponding feedback controller that produces it. This connection shows promise to lead to new methods for robust nonlinear control in…
In this paper approximations of the set of trajectories and integral funnel of the control system described by nonlinear ordinary differential equation with integral constraint on the control functions are considered. The set of admissible…
In this paper we consider a recently developed distributed optimization algorithm based on gradient tracking. We propose a system theory framework to analyze its structural properties on a preliminary, quadratic optimization set-up.…
Vector-valued learning, where the output space admits a vector-valued structure, is an important problem that covers a broad family of important domains, e.g. multi-task learning and transfer learning. Using local Rademacher complexity and…
This paper proposes a recursive, virtual admittance based, secondary controller for DG units that improves the voltage profile in distribution networks. First, the adaptation of the virtual admittance concept for the goal of voltage…
We exploit a recently developed funnel control methodology for linear non-minimum phase systems to design an output error feedback controller for a nonlinear robotic manipulator, which is not minimum phase. We illustrate the novel control…
The optimal controller design problem for systems equipped with sensors that measure only relative, rather than absolute, quantities is considered. This relative measurement structure is formulated as a design constraint; it is demonstrated…
Synchronization in networks of discrete-time linear time-invariant systems is considered under relative actuation. Neither input nor output matrices are assumed to be commensurable. A distributed algorithm that ensures synchronization via…
The article sets and solves the task to control an error of the artificial neural network with variable signal conductivity. This kind of neural networks was especially developed to construct timetables. Behavior of such a neural network…
We study adaptive fault tolerant tracking control for uncertain linear systems. Based on recent results in funnel control and the time-varying Byrnes-Isidori form, we develop a low-complexity model-free controller which achieves prescribed…
Recently, decision trees (DT) have been used as an explainable representation of controllers (a.k.a. strategies, policies, schedulers). Although they are often very efficient and produce small and understandable controllers for discrete…
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…
In this paper, we present a prescribed performance control framework for trajectory tracking in Euler-Lagrange systems with unknown dynamics and prescribed input constraints. The proposed approach enforces hard funnel constraints, meaning…
We propose an abstract framework for solving the constrained set-point tracking problem for impedance passive infinite-dimensional nonlinear systems. The class of systems considered is governed by monotone differential inclusions and allows…
We study the controllability of a Partial Differential Equation of transport type, that arises in crowd models. We are interested in controlling it with a control being a vector field, representing a perturbation of the velocity, localized…
Leader-follower tracking control design has received significant attention in recent years due to its important and wide applications. Considering a multi-agent system composed of a leader and multiple followers, this paper proposes and…
In this paper, the D2-IBC (Data-Driven Inversion Based Control) approach for nonlinear control is introduced and analyzed. The method does not require any a-priori knowledge of the system dynamics and relies on a two degrees of freedom…
The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not studied adequately,…
This paper considers the problem of output feedback control for non-square multi-input multi-output systems with arbitrary relative degree. The proposed controller, based on the L1 adaptive control architecture, is designed using the right…