Related papers: Output tracking for a non-minimum phase robotic ma…

We present a novel class of nonlinear controllers that interpolates among differently behaving linear controllers as a case study for recently proposed Linear and Nonlinear System Level Synthesis framework. The structure of the nonlinear…

In this paper, we address the problem of closed-loop control of nonlinear dynamical systems subjected to probabilistic uncertainties. More precisely, we design time-varying polynomial feedback controllers to follow the given nominal…

Robust optimal or min-max model predictive control (MPC) approaches aim to guarantee constraint satisfaction over a known, bounded uncertainty set while minimizing a worst-case performance bound. Traditionally, these methods compute a…

This article studies the control ideas of the optimal backstepping technique, proposing an event-triggered optimal tracking control scheme for a class of strict-feedback nonlinear systems with non-affine and nonlinear faults. A simplified…

In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…

This paper addresses the problem of finite horizon constrained robust optimal control for nonlinear systems subject to norm-bounded disturbances. To this end, the underlying uncertain nonlinear system is decomposed based on a first-order…

In this paper, we propose a deep unfolding-based framework for the output feedback control of systems with input saturation. Although saturation commonly arises in several practical control systems, there is still a scarce of effective…

This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface.…

This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…

We develop a functional-analytic characterization of output tracking controllability for finite-dimensional linear systems. By formulating tracking as the surjectivity of the control-to-output map on suitable trajectory spaces, we show that…

This paper addresses the offset-free tracking problem for nonlinear systems described by a class of recurrent neural networks (RNNs). To compensate for constant disturbances and guarantee offset-free tracking in the presence of model-plant…

We propose a new class of passive nonlinear finite impulse response operators. This class is constructed by the action of finite impulse response filters in a lifted space. This allows for efficient control synthesis through constrained…

It is shown that an explicit oblique projection nonlinear feedback controller is able to stabilize semilinear parabolic equations, with time-dependent dynamics and with a polynomial nonlinearity. The actuators are typically modeled by a…

This paper presents development of an optimal feedback linearization control (OFLC) for interior permanent magnet (PM) synchronous machines operating in a non steady-sate operating point, i.e., varying torque and speed, to achieve precision…

We study trajectory tracking for flat nonlinear systems with unmatched uncertainties using the model-following control (MFC) architecture. We apply state feedback linearisation control for the process and propose a simplified implementation…

This paper introduces a novel approach to system identification for nonlinear input-output models that minimizes the simulation error and frames the problem as a constrained optimization task. The proposed method addresses vanishing…

This paper considers a class of bilinear systems with a neural network in the loop. These arise naturally when employing machine learning techniques to approximate general, non-affine in the input, control systems. We propose a controller…

Predictor feedback designs are critical for delay-compensating controllers in nonlinear systems. However, these designs are limited in practical applications as predictors cannot be directly implemented, but require numerical approximation…

The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted…

In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any initial condition. Necessary and sufficient…