Related papers: Multi-Objective Digital PID Controller Design in P…
This paper analyzes the motion of solutions to non-homogeneous linear differential equations. It further clarifies that a proportional-integral-derivative (PID) controller essentially comprises two parts: a homogeneous controller and a…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
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…
The main objective of this work is to describe a general and original approach for computing an off-line solution for a set of parameters describing the geometry of the domain. That is, a solution able to include information for different…
Modern automation systems rely on closed loop control, wherein a controller interacts with a controlled process, based on observations. These systems are increasingly complex, yet most controllers are linear Proportional-Integral-Derivative…
This paper deals with the development and analysis of novel time-optimal point-to-point model predictive control concepts for nonlinear systems. Recent approaches in the literature apply a time transformation, however, which do not maintain…
A Fractional adaptive PID (FPID) controller for a robot manipulator will be proposed. The PID parameters have been optimized by Genetic algorithm. The proposed controller is found robust by means of simulation in a tracking job. The…
Since the classical proportional-integral-derivative (PID) controller is the most widely and successfully used ones in industrial processes, it is of vital importance to investigate theoretically the rationale of this ubiquitous controller…
In this work, we investigate the problem of simultaneously learning and controlling a system subject to adversarial choices of disturbances and system parameters. We study the problem for a scalar system with $l_\infty$-norm bounded…
Mobile robotic manipulators (MRMs), which integrate mobility and manipulation capabilities, present significant control challenges due to their nonlinear dynamics, underactuation, and coupling between the base and manipulator subsystems.…
Many traditional robust control approaches assume linearity of the system and independence between the system state-input and the parameters of its approximant (possibly lower-order) model. This assumption implies that the application of…
DC microgrids have promising applications in renewable integration due to their better energy efficiency when connecting DC components. However, they might be unstable since many loads in a DC microgrid are regulated as constant power loads…
This paper looks at frequency domain design of a fractional order (FO) PID controller for an Automatic Voltage Regulator (AVR) system. Various performance criteria of the AVR system are formulated as system norms and is then coupled with an…
Proportional-integral-derivative (PID) controller is widely used across various industrial process control applications because of its straightforward implementation. However, it can be challenging to fine-tune the PID parameters in…
We present a new method for the automated synthesis of safe and robust Proportional-Integral-Derivative (PID) controllers for stochastic hybrid systems. Despite their widespread use in industry, no automated method currently exists for…
We present a full review of PID passivity-based controllers (PBC) applied to power electronic converters, discussing limitations, unprecedented merits and potential improvements in terms of large-signal stability, robustness and…
Unmanned Aerial Vehicles (UAVs) have gained widespread recognition for their diverse applications, ranging from surveillance to delivery services. Among the various control algorithms employed to stabilize and navigate UAVs, the…
This paper proposes a decentralized method for regional pole placement, or $\mathcal{D}$-stability, in linearized networked systems. Existing LMI-based methods are hindered by confidentiality concerns regarding proprietary subsystem models…
In this paper we propose a model predictive control scheme for constrained fractional-order discrete-time systems. We prove that all constraints are satisfied at all time instants and we prescribe conditions for the origin to be an…
It has been known for some time that proportional output feedback will stabilize MIMO, minimum-phase, linear time-invariant systems if the feedback gain is sufficiently large. High-gain adaptive controllers achieve stability by…