Related papers: Stabilization control of networked mobile robot us…
Model-free algorithms are brought into the control system's research with the emergence of reinforcement learning algorithms. However, there are two practical challenges of reinforcement learning-based methods. First, learning by…
This paper is concerned with the problem of robust reliable control for a class of uncertain 2D discrete switched systems with state delays represented by a model of Roesser type. The parameter uncertainties are assumed to be norm-bounded.…
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…
Stabilizing state feedback controller has been designed in this paper for a switched DC motor plant, controlled over communication network. The switched system formulation for the networked control system (NCS) with additional switching in…
This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…
Designing a static state-feedback controller subject to structural constraint achieving asymptotic stability is a relevant problem with many applications, including network decentralized control, coordinated control, and sparse feedback…
In this paper, we consider a stabilization problem of an uncertain system in a networked control setting. Due to the network, the measurements are quantized to finite-bit signals and may be randomly lost in the communication. We study…
Time-delayed feedback methods can be used to control unstable periodic orbits as well as unstable steady states. We present an application of extended time delay autosynchronization introduced by Socolar et al. to an unstable focus. This…
This paper addresses a scheduling problem in the context of a cyber-physical system where a sensor and a controller communicate over an unreliable channel. The sensor observes the state of a source at each time, and according to a…
In contrast with unstructured models, structured discrete population models have been able to fit and predict chaotic experimental data. However, most of the chaos control techniques in the literature have been designed and analyzed in a…
We provide a solution to the heretofore open problem of stabilization of systems with arbitrarily long delays at the input and output of a nonlinear system using output feedback only. The solution is global, employs the predictor approach…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
A low-cost measurement system using filtering of measurements for two-wheeled balancing robot stabilisation purposes has been addressed in this paper. In particular, a measurement system based on gyroscope, accelerometer, and encoder has…
This paper establishes analytical stability criteria for robot-mediated human-human (dyadic) interaction systems, focusing on haptic communication under network-induced time delays. Through frequency-domain analysis supported by numerical…
This paper is concerned with the decentralized stabilization problem for a class of uncertain large-scale systems with Markovian jump parameters. The controllers use local subsystem states and neighboring mode information to generate local…
In this paper, an uncertain norm-bounded mathematical model for a remotely controlled skid-slip tracked mobile robot. The linear state space description aims to describe the nonlinear error dynamics of the robot during the trajectory…
This work proposes a new procedure for the stabilization of time-delay systems using Static Output Feedback (SOF) control. A previous convex optimization approach to SOF for Ordinary Differential Equations (ODEs) is extended to time-delay…
In Networked Control Systems (NCS), the absence of physical communication links in the loop leads to relevant issues, such as measurement delays and asynchronous execution of the control commands. These issues may lead to unwanted control…
This paper investigates the robot state estimation problem within a non-inertial environment. The proposed state estimation approach relaxes the common assumption of static ground in the system modeling. The process and measurement models…
Time delayed feedback control is one of the most successful methods to discover dynamically unstable features of a dynamical system in an experiment. This approach feeds back only terms that depend on the difference between the current…