Related papers: Synchronizer-Free Digital Link Controller
This paper proposes a real-time model predictive control (MPC) scheme to execute multiple tasks using robots over a finite-time horizon. In industrial robotic applications, we must carefully consider multiple constraints for avoiding joint…
This work studies data-driven switched controller design for discrete-time switched linear systems. Instead of having access to the full system dynamics, an initialization phase is performed, during which noiseless measurements of the state…
Recent studies exploited external periodic synchronous signals to synchronize a pair of network nodes to address a threat of delaying the communications between the nodes. However, the sensing-based synchronization may yield faults due to…
This paper introduces a new framework for analyzing the stability of discrete-time model predictive controllers acting on continuous-time systems. The proposed framework introduces the distinction between discretization time (used to…
Three-phase AC-DC rectifiers are fundamental components in modern power electronics systems, yet achieving rapid voltage regulation and precise current tracking under load and grid disturbances remains challenging due to nonlinear dynamics…
Inter-area oscillations in power system limit of power transfer capability though tie-lines. For stable operation, wide-area power system stabilizers are deployed to provide sufficient damping. However, as the feedback is through a…
We present a new output feedback fault tolerant control strategy for continuous-time linear systems. The strategy combines a digital nominal controller under controller-driven (varying) sampling with virtual-actuator (VA)-based controller…
Consider a distributed control problem with a communication channel connecting the observer of a linear stochastic system to the controller. The goal of the controller is to minimize a quadratic cost function in the state variables and…
This letter presents a framework for synthesizing a robust full-state feedback controller for systems with unknown nonlinearities. Our approach characterizes input-output behavior of the nonlinearities in terms of local norm bounds using…
In this paper, we investigate the rapid stabilizability of linear infinite-dimensional control systems with constant delays. Under the assumptions that the state operator generates an immediately compact semigroup and that the delay…
We present a novel framework for transferring the knowledge from one system (source) to design a stabilizing controller for a second system (target). Our motivation stems from the hypothesis that abundant data can be collected from the…
This paper presents an experimental framework for inducing and tuning vibration bandgaps in digitally controlled mechatronic metamaterials. A slender-beam structure instrumented with collocated piezoelectric sensor-actuator pairs…
A high-gain observer is used for a class of feedback linearisable nonlinear systems to synthesize safety-preserving controllers over the observer output. A bound on the distance between trajectories under state and output feedback is…
The task of implementing a supervisory controller is non-trivial, even though different theories exist that allow automatic synthesis of these controllers in the form of automata. One of the reasons for this discord is due to the…
Synchronization is the process of achieving identical dynamics among coupled identical units. If the units are different from each other, their dynamics cannot become identical; yet, after transients, there may emerge a functional…
We study online control for continuous-time linear systems with finite sampling rates, where the objective is to design an online procedure that learns under non-stochastic noise and performs comparably to a fixed optimal linear controller.…
The present paper explores the synchronization scenario of hyperchaotic time-delayed electronic oscillators coupled indirectly via a common environment. We show that depending upon the coupling parameters a hyperchaotic time-delayed system…
Today, electric scooter is a trendy personal mobility vehicle. The rising demand and opportunities attract ride-share services. A common problem of such services is abandoned e-scooters. An autonomous e-scooter capable of moving to the…
In on-orbit robotics, a servicer satellite's ability to make contact with a free-spinning target satellite is essential to completing most on-orbit servicing (OOS) tasks. This manuscript develops a nonlinear model predictive control (MPC)…
Formal control of cyber-physical systems allows for synthesis of control strategies from rich specifications such as temporal logics. However, the classes of systems that the formal approaches can be applied to is limited due to the…