Related papers: A guide to design disturbance observer based motio…
This paper revisits the previously proposed linear asymptotic observer of the motion state variables with nonlinear friction and provides a robust design suitable for both, transient presliding and steady-state sliding phases of the…
This work presents a simulation-based comparative robustness analysis of Incremental Nonlinear Dynamic Inversion (INDI) and Nonlinear Dynamic Inversion augmented with a nonlinear disturbance observer (NDI+NDO) for fully actuated aerial…
Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…
This article presents a tracking control framework enhanced by an extended state observer for a rotorcraft aerial vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The system is considered as an…
The concept of friction-induced brake vibrations, commonly known as judder, is investigated. Judder vibration is based on the class of geometrically induced or kinematic constraint instability. After presenting the modal coupling mechanism…
This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…
Reinforcement learning (RL) agents need to explore their environment to learn optimal behaviors and achieve maximum rewards. However, exploration can be risky when training RL directly on real systems, while simulation-based training…
We present three dynamic error feedback controllers for robust output regulation of regular linear systems. These controllers are (i) a minimal order robust controller for exponentially stable systems (ii) an observer-based robust…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
Typically, it is desirable to design a control system that is not only robustly stable in the presence of parametric uncertainties but also guarantees an adequate level of system performance. However, most of the existing methods need to…
We address the problem of robust state estimation of a class of discrete-time nonlinear systems with positive-slope nonlinearities when the sensors are corrupted by (potentially unbounded) attack signals and bounded measurement noise. We…
Introduction of renewable generation leads to significant reduction of inertia in power system, which deteriorates the quality of frequency control. This paper suggests a new control scheme utilizing controllable load to deal with low…
This paper presents extensions of control barrier function (CBF) theory to systems with disturbances wherein a controller only receives measurements infrequently and operates open-loop between measurements, while still satisfying state…
We propose an approach to design a Model Predictive Controller (MPC) for constrained Linear Time Invariant systems performing an iterative task. The system is subject to an additive disturbance, and the goal is to learn to satisfy state and…
This paper presents a new theory, known as robust dynamic pro- gramming, for a class of continuous-time dynamical systems. Different from traditional dynamic programming (DP) methods, this new theory serves as a fundamental tool to analyze…
An observer based adaptive detection methodology (ADM) is proposed for estimating frequency and its rate of change (RoCoF) of the voltage and/or current measurements acquired from an instrument transformer. With guaranteed convergence and…
Infinite-dimensional control systems with outputs are considered in the Hamiltonian formulation with generalized coordinates. An explicit scheme for constructing a dynamic observer for this class of systems is proposed with arbitrary gain…
This letter presents a control framework for legged robots that enables self-perception and resistance to external disturbances and model uncertainties. First, a novel disturbance estimator is proposed, integrating adaptive control and…
Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…
In this work we address the problem of the online robust control of nonlinear dynamical systems perturbed by disturbance. We study the problem of attenuation of the total cost over a duration $T$ in response to the disturbances. We consider…