Related papers: On the Modeling and Simulation of Anti-Windup Prop…
Modern model checking techniques concentrate on global properties of verified systems, because the methods base on global state space. Local features like partial deadlock or process termination are not easy to express and check. In the…
Reset controllers have demonstrated their effectiveness in enhancing performance in precision motion systems. To further exploiting the potential of reset controllers, this study introduces a parallel-partial reset control structure.…
The general context of this work is the feedback control of an infinite-dimensional system so that the closed-loop system satisfies a fading-memory property and achieves the setpoint tracking of a given reference signal. More specifically,…
This paper presents a new passivity property for distributed piezoelectric devices with integrable port-variables. We present two new control methodologies by exploiting the integrability property of the port-variables. The derived…
Whispered speech as an acceptable form of human-computer interaction is gaining traction. Systems that address multiple modes of speech require a robust front-end speech classifier. Performance of whispered vs normal speech classification…
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…
Late-lumping feedback design for infinite-dimensional linear systems with unbounded input operators is considered. The proposed scheme is suitable for the approximation of backstepping and flatness-based designs and relies on a…
In advanced tokamak scenarios, active feedback control of unstable resistive wall modes (RWM) may be required. A RWM is an instability due to plasma kink at higher plasma pressure, moderated by the presence of a resistive wall surrounding…
As dynamical systems equipped with neural network controllers (neural feedback systems) become increasingly prevalent, it is critical to develop methods to ensure their safe operation. Verifying safety requires extending control theoretic…
In this paper we study how high-gain anti-windup schemes can be used to implement projected dynamical systems in control loops that are subject to saturation on a (possibly unknown) set of admissible inputs. This insight is especially…
Reduced-order template models like the Linear Inverted Pendulum (LIP) and Spring-Loaded Inverted Pendulum (SLIP) are widely used tools for controlling high-dimensional humanoid robots. However, connections between templates and whole-body…
The key challenges in design of predictor-based control laws for switched systems with arbitrary switching and long input delay are the potential unavailability of the future values of the switching signal (at current time) and the fact…
We tackle the challenge of ensuring the deadlock-freedom property for message-passing processes that communicate asynchronously in cyclic process networks. Our contributions are twofold. First, we present Asynchronous Priority-based…
We study the problem of optimal state-feedback tracking control for unknown discrete-time deterministic systems with input constraints. To handle input constraints, state-of-art methods utilize a certain nonquadratic stage cost function,…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…
Recent advances in control theory yield closed-loop neurostimulations for suppressing epileptiform seizures. These advances are illustrated by computer experiments which are easy to implement and to tune. The feedback synthesis is provided…
Learning-based controllers have demonstrated superior performance compared to classical controllers in various tasks. However, providing safety guarantees is not trivial. Safety, the satisfaction of state and input constraints, can be…
Gait control of legged robotic walkers on dynamically moving surfaces (e.g., ships and vehicles) is challenging due to the limited balance control actuation and unknown surface motion. We present a contingent model predictive control (CMPC)…
We present a method for the numerical analysis of superconducting quantum circuits combining lumped elements, either linear or non-linear (i.e.~Josephson junctions), and distributed coplanar waveguide (CPW) structures. CPW transmission…
Boundary feedback stabilisation of linear port-Hamiltonian systems on an interval is considered. Generation and stability results already known for linear feedback are extended to nonlinear dissipative feedback, both to static feedback…