Related papers: Tuning Rules for a Class of Passivity-Based Contro…
This work presents a framework to synthesize structured gain-scheduled controllers for structured plants whose dynamics change according to time-varying scheduling parameters. Both the system and the controller are assumed to admit…
The current model-free adaptive control (MFAC) method is designed on the basis of the equivalent-dynamic-linearization model (EDLM) with neglect of the time delay and disturbance in practical. By comparisons with the current works about…
This paper proposes a novel online data-driven adaptive control for unknown linear time-varying systems. Initialized with an empirical feedback gain, the algorithm periodically updates this gain based on the data collected over a short time…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
This paper studies the problem of frequency regulation in power grids under unknown and possible time-varying load changes, while minimizing the generation costs. We formulate this problem as an output agreement problem for distribution…
The complexity of modern control systems necessitates architectures that achieve high performance while ensuring robust stability, particularly for nonlinear systems. In this work, we tackle the challenge of designing output-feedback…
We study state-feedback design for continuous-time LTI systems with a control input and an external input-output pair. Our objective is to determine feedback gains that render the closed-loop system (strictly) passive with respect to the…
This paper studies the data-driven control of unknown linear-threshold network dynamics to stabilize the state to a reference value. We consider two types of controllers: (i) a state feedback controller with feed-forward reference input and…
This paper proposes a new framework and several results to quantify the performance of data-driven state-feedback controllers for linear systems against targeted perturbations of the training data. We focus on the case where subsets of the…
Obtaining prescribed accuracy bounds in super-twisting sliding mode control loops often falls short in terms of the applicability of the controller in high-performance systems. This is due to the fact that the selection of the controller…
This paper proposes a nonlinear, adaptive controller to increase the stability margin of a direct-current (DC) small-scale electrical network containing a constant power load, whose value is unknown. Due to their negative incremental…
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there is little guidance on the selection of the desired impedance.…
In this paper, we considered a design method of non-linear state feedback controller for input-affine non-linear system taking data losses into account. When data is lost in control system, control input is fixed to constant value or to the…
This paper proposes decentralized stability conditions for multi-converter systems based on the combination of the small gain theorem and the small phase theorem. Instead of directly computing the closed-loop dynamics, e.g., eigenvalues of…
We propose a new matrix pencil based approach for design of state-feedback and output-feedback stabilizing controllers for a general class of uncertain nonlinear strict-feedback-like systems. While the dynamic controller structure is based…
One of the main features of adaptive systems is an oscillatory convergence that exacerbates with the speed of adaptation. Recently it has been shown that Closed-loop Reference Models (CRMs) can result in improved transient performance over…
This paper addresses the closed-loop ramp comparison current regulation in an induction machine fed by a pulse width modulated voltage source inverter. The regulator is implemented in a synchronous frame, serving as a foundation for an…
Learning-based controllers leverage nonlinear couplings and enhance transients but seldom offer guarantees under tight input constraints. Robust feedback like sliding-mode control (SMC) provides these guarantees but is conservative in…
In this paper, we address the robustness of parabolic-elliptic systems under boundary control. A sliding mode control strategy is proposed to reject matched perturbations. The stability analysis establishes finite-time convergence of the…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…