Related papers: Bounded Inputs Total Energy Shaping for Mechanical…
The paper is devoted to a design of a common bounded feedback control steering a system of an arbitrary number of linear oscillators to the equilibrium. At high energies, the control is based on the asymptotic theory of reachable sets of…
Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…
Stabilization of a quadrotor without a controller based on cascade structure is a challenging problem. Besides, due to the dynamics and the number of underactuation, an energy shaping controller has not been designed in 3D for a quadrotor.…
Model predictive control (MPC) is widely used in industries but implementing it poses challenges due to hardware or time constraints. A promising solution is to approximate the MPC policy using function approximators like neural networks.…
This paper addresses the problem of regulating the output voltage of a DC-DC buck-boost converter feeding a constant power load,which is a problem of current practical interest. Designing a stabilising controller is theoretically…
This paper proposes an MPC-based controller to efficiently execute multiple hierarchical tasks for underactuated and constrained robotic systems. Existing task-space controllers or whole-body controllers solve instantaneous optimization…
An in-domain finite dimensional controller for a class of distributed parameter systems on a one-dimensional spatial domain formulated under the port-Hamiltonian framework is presented. Based on [25] where positive feedback and a late…
Inactive constraints do not contribute to the solution of an optimal control problem, but increase the problem size and burden the numerical computations. We present a novel strategy for handling inactive constraints efficiently by…
This paper presents the analysis and a method to design supplementary damping controllers (SDCs) for synchronous generators considering the effects of saturation limits. Usually such saturations of control signals are imposed in order to…
In this article, we present a stabilization feedback law with integral action for conservative abstract linear systems subjected to actuator nonlinearity. Based on the designed control law, we first prove the well-posedness and global…
A recent approach to the control of underactuated systems is to look for control laws which will induce some specified structure on the closed loop system. This basic idea is used in several papers already. In this paper, we will describe…
Robust output tracking is addressed in this paper for a heat equation with Neumann boundary conditions and anti-collocated boundary input and output. The desired reference tracking is solved using the well-known flatness and Lyapunov…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
Soft and soft-rigid hybrid robots are inherently underactuated and operate under tight actuator limits, making task-space control with stability guarantees challenging. Common nonlinear strategies for soft robots (e.g., those based on PD…
In this paper input-to-state practically stabilizing control laws for retarded, control-affine, nonlinear systems with actuator disturbance are investigated. The developed methodology is based on the Arstein's theory of control Liapunov…
Guaranteeing safe behavior on complex autonomous systems -- from cars to walking robots -- is challenging due to the inherently high dimensional nature of these systems and the corresponding complex models that may be difficult to determine…
Rollout control is an MPC-based control method, in which a controller is periodically activated to schedule the transmission of sensor or actuator data. Therein, a preassigned traffic specification acts as a constraint on the scheduled…
Many practical applications of optimal control are subject to real-time computational constraints. When applying model predictive control (MPC) in these settings, respecting timing constraints is achieved by limiting the number of…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
This paper explores the voltage regulation challenges in boost converter systems, which are critical components in power electronics due to their ability to step up voltage levels efficiently. The proposed control algorithm ensures…