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The high tech industry which requires fast stable motion with nanometer precision continues to mainly use PID which is limited by fundamental linear control limitations. Floor vibrations as disturbance significantly affect performance and…
This paper investigates the problem of pose synchronization for multiple rigid body systems evolving on the matrix Lie group $\SE(3)$. We propose a distributed hybrid feedback control scheme with global asymptotic stability guarantees using…
Multi-LiDAR systems have been prevalently applied in modern autonomous vehicles to render a broad view of the environments. The rapid development of 5G wireless technologies has brought a breakthrough for current cellular…
The present paper studies a feedback regulation problem, which may be interpreted as an adaptive control problem, but has not yet been studied in the control literature. The problem, which arises in at least two different biological…
Feedback optimization has emerged as a promising approach for optimizing the steady-state operation of dynamical systems while requiring minimal modeling efforts. Unfortunately, most existing feedback optimization methods rely on knowledge…
This paper addresses the problem of fault diagnosis in multistation assembly systems. Fault diagnosis is to identify process faults that cause the excessive dimensional variation of the product using dimensional measurements. For such…
This study proposes a feedback linearisation based on the back-stepping method with simple implementation and unique design process to design a non-linear controller with a goal of improving both steady-state and transient stability. The…
Nonlinear systems, such as switching DC-DC boost or buck converters, have rich dynamics. A simple one-dimensional discrete-time model is used to analyze the boost or buck converter in discontinuous conduction mode. Seven different control…
We consider a two-stage robust facility location problem on a metric under an uncertain demand. The decision-maker needs to decide on the (integral) units of supply for each facility in the first stage to satisfy an uncertain second-stage…
Quantum many-body systems undergoing phase transitions have been proposed as probes enabling beyond-classical enhancement of sensing precision. However, this enhancement is usually limited to a very narrow region around the critical point.…
The response to a setpoint change in PID controlled feedback systems plays an important role for the tuning methods. This response may be easily evaluated in linear systems without delay by solving the related ordinary differential…
Given a multi-input, nonlinear, time-invariant, control-affine system and a controlled invariant, closed, embedded submanifold $\mathsf{N}$, the local transverse feedback linearization (TFL) problem seeks a coordinate and feedback…
In this paper we study the problem of determining the largest degree of stability that can be achieved for SISO systems using negative imaginary state feedback control. A state feedback result is given for synthesising a controller for a…
Limitations of the delayed feedback control and of its extended versions have been fully treated in the literature. The oscillating delayed feedback control appears as a promising scheme to overcome this problem. In this work, two methods…
Instead of analog electronic circuits and components, digital controllers that are capable of active multi-resonant piezoelectric shunting are applied to elastic metamaterials integrated with piezoelectric patches. Giving thanks to the…
Real-time scheduling algorithms proposed in the literature are often based on worst-case estimates of task parameters. The performance of an open-loop scheme can be degraded significantly if there are uncertainties in task parameters, such…
Alternating-Current Optimal Power Flow (AC-OPF) is an optimization problem critical for planning and operating the power grid. The problem is traditionally formulated using only continuous variables. Typically, control devices with…
We present two experiments in closed-loop feedback control. In the first experiment, students control the pointing angle of a laser to "lock" the laser onto a "target." In the second, students stabilize the pathlength difference in two arms…
One fundamental difficulty in robotic learning is the sim-real gap problem. In this work, we propose to use segmentation as the interface between perception and control, as a domain-invariant state representation. We identify two sources of…
In this work, we present a novel control approach based on partial feedback linearization (PFL) for the stabilization of a suspended aerial platform with an attached load. Such systems are envisioned for various applications in construction…