Related papers: Bounded Inputs Total Energy Shaping for Mechanical…
A new technique for performance regulation in event-driven systems, recently proposed by the authors, consists of an adaptive-gain integral control. The gain is adjusted in the control loop by a real-time estimation of the derivative of the…
This paper addresses three complex control challenges related to input-saturated systems from a data-driven perspective. Unlike the traditional two-stage process involving system identification and model-based control, the proposed approach…
Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) is a well-established stabilization technique for affine nonlinear systems. However, its application is generally hindered by the requirement of solving a set of…
We consider the energy-optimal control problem for double-integrator systems subject to state and control constraints, with fixed terminal time and free terminal speed. When the constraints become active, the optimal trajectory consists of…
In the recent years, passivity theory has gained renewed attention because of its advantages and practicality in modeling of multi-domain systems and constructive control techniques. Unlike Lyapunov theory, passivity theory takes a…
Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) is a nonlinear control technique that assigns a port-Hamiltonian (pH) structure to a controlled system using a state-feedback law. While IDA-PBC has been extensively…
The paper is an attempt to generalize a methodology, which is similar to the bounded-input bounded-output method currently widely used for the system stability studies. The presented earlier methodology allows decomposition of input space…
The problem of designing a stabilizing feedback controller in the presence of saturating actuators and multi-rate (asynchronous) aperiodic state measurements is studied. Specifically, we consider a scenario in which measurements of the…
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems. The novelty of our methodology is that we exploit the gyroscopic forces of the mechanical systems to exponentially stabilize the…
This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…
Many important complex networks, including critical infrastructure and emerging industrial automation systems, are becoming increasingly intricate webs of interacting feedback control loops. A fundamental concern is to quantify the control…
Most modern control systems are switched, meaning they have continuous as well as discrete decision variables. Switched systems often have constraints called dwell-time constraints (e.g., cycling constraints in a heat pump) on the switching…
Equipping approximate dynamic programming (ADP) with inputconstraints has a tremendous significance. This enables ADP to be applied tothe systems with actuator limitations, which is quite common for dynamicalsystems. In a conventional…
All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…
The control of a Dubins Vehicle when subjected to a loss of control effectiveness in the turning rate is considered. A complex state-space representation is used to model the vehicle dynamics. An adaptive control design is proposed, with…
The design of the performance index, also referred to as cost or reward shaping, is central to both optimal control and reinforcement learning, as it directly determines the behaviors, trade-offs, and objectives that the resulting control…
Several theorems on the volume computing of the polyhedron spanned by a n-dimensional vector set with the finite-interval parameters are presented and proved firstly, and then are used in the analysis of the controllable regions of the…
We introduce optimal energy shaping as an enhancement of classical passivity-based control methods. A promising feature of passivity theory, alongside stability, has traditionally been claimed to be intuitive performance tuning along the…
This paper presents a low-complexity, model-free, output-feedback controller for a class of unknown time-varying nonlinear systems with unknown input constraints. The controller achieves the preset control accuracy when the actuator is not…
We present the Alternating Direction Method of Multipliers for Performance Boosting (ADMM-PB), an approach to design performance boosting controllers for stable or pre-stabilized nonlinear systems, while explicitly seeking input and state…