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A rigid body model for the dynamics of a marine vessel, used in simulations of offshore pipe-lay operations, gives rise to a set of ordinary differential equations with controls. The system is input-output passive. We propose…
We present a novel data-driven Model Predictive Control (MPC) algorithm for nonlinear systems. The method is based on recent extensions of behavioural theory and Willem's Fundamental Lemma for nonlinear systems by the means of adequate…
The Wheeled Inverted Pendulum (WIP) is a nonholonomic, underactuated mechanical system, and has been popularized commercially as the {\it Segway}. Designing optimal control laws for point-to-point state-transfer for this autonomous…
In this work, we address two main shortcomings of transformer architectures: input corruption and rank collapse in their output representation. We unveil self-attention as an autonomous state-space model that inherently promotes smoothness…
This paper considers a tracking control problem, in which the dynamic controller is encrypted with an additively homomorphic encryption scheme and the output of a process tracks a dynamic reference asymptotically. Our paper is motivated by…
This work studies the design problem of feedback stabilizers for discrete-time systems with input delays. A backstepping procedure is proposed for disturbance-free discrete-time systems. The feedback law designed by using backstepping…
This paper presents a set of robust PI tuning formulae for a first order plus dead time process using particle swarm optimization. Also, tuning formulae for an integrating process with dead time, which is a special case of a first order…
A delayed feedback control framework for stabilizing unstable periodic orbits of linear periodic time-varying systems is proposed. In this framework, act-and-wait approach is utilized for switching a delayed feedback controller on and off…
This paper studies the boundary feedback stabilization of a class of diagonal infinite-dimensional boundary control systems. In the studied setting, the boundary control input is subject to a constant delay while the open loop system might…
Nonlinear PID control systems for a quadrotor UAV are proposed to follow an attitude tracking command and a position tracking command. The control systems are developed directly on the special Euclidean group to avoid singularities of…
This paper develops a unified frequency-domain framework for the analysis of sliding-mode control systems, encompassing both discontinuous and Lipschitz-continuous implementations. Using describing function (DF) theory, closed-form…
Time delays due to signal latency, computational complexity, and sensor-denied environments, pose a critical challenge in both engineered and biological control systems. In this work, we investigate biologically inspired strategies to…
This article is the second part of a paper series about interference in extremum (i.e., peak or valley) current-mode control, which applies to both fixed and variable switching frequency power converters. Specifically, this part presents…
We develop a formalism to analyze the behaviour of pulse--coupled identical phase oscillators with a specific attention devoted to the onset of partial synchronization. The method, which allows describing the dynamics both at the…
This paper addresses the attitude tracking of a rigid body using a quaternion description. Global finite-time attitude controllers are designed with three types of measurements, namely, full states, attitude plus constant-biased angular…
Nonlinear receding horizon model predictive control is a powerful approach to controlling nonlinear dynamical systems. However, typical approaches that use the Jacobian, adjoint, and forward-backward passes may lose fidelity and efficacy…
In physical human-robot interaction, the coexistence of robots and humans in the same workspace requires the guarantee of a stable interaction, trying to minimize the effort for the operator. To this aim, the admittance control is widely…
Systems for which the backstepping technique cannot be applied are considered. A criterion for the design of a hybrid feedback law is proposed by blending a local stabilizer with a backstepping controller. This hybrid feedback law renders…
This paper presents a parameter formula connecting the well-known proportional-integralderivative (PID) control and the active disturbance rejection control (ADRC). On the one hand, this formula gives a quantitative lower bound to the…
This study is concerned with the numerical solution of a class of infinite-horizon linear regulation problems with state equality constraints and output feedback control. We propose two numerical methods to convert the optimal control…