Related papers: Leveraging PID Gain Selection Towards Adaptive Bac…
We present a controller tuning strategy for first-order plus time delay (FOPTD) processes, where the time delay in the model is approximated using the Pad\'e function. Using Routh-Hurwitz stability analysis, we derive the gain that gives…
We present a learning-based predictive control methodology using the differentiable programming framework with probabilistic Lyapunov-based stability guarantees. The neural Lyapunov differentiable predictive control (NLDPC) learns the…
Previous results reported in the robotics literature show the relationship between time-delay control (TDC) and proportional-integral-derivative control (PID). In this paper, we show that incremental nonlinear dynamic inversion (INDI) -…
This paper investigates the robust output regulation problem of second-order nonlinear uncertain systems with an unknown exosystem. Instead of the adaptive control approach, this paper resorts to a robust control methodology to solve the…
The aim of this paper is to present a comprehensive range of design techniques for the synthesis of the standard compensators (Lead and Lag networks as well as PID controllers) that in the last twenty years have proved to be of great…
Deep reinforcement learning (DRL) has seen several successful applications to process control. Common methods rely on a deep neural network structure to model the controller or process. With increasingly complicated control structures, the…
If embedded with command filter properly, the implementation of backstepping design could be dramatically simplified. In this paper, we introduce a command filter with time-varying gain and integrate it with backstepping design, resulting…
Continuous higher order sliding mode (CHOSM) controllers represent an efficient tool for disturbance rejection. For the systems with relative degree r, CHOSM approaches provide theoretically exact compensation of the matched Lipschitz…
The PID controller parameters can be adjusted in such a manner that it gives the desired frequency response and the results are found using the Bodes integral formula in order to adjust the slope of the nyquist curve in a desired manner.…
Learning controllers merely based on a performance metric has been proven effective in many physical and non-physical tasks in both control theory and reinforcement learning. However, in practice, the controller must guarantee some notion…
A variety of control systems have been proposed for aircraft autopilot systems. Traditional approaches such as proportional controller and conventional PID (CPID) controller are widely used. PID controller has a good static performance…
This paper analyzes distributed control protocols for first- and second-order networked dynamical systems. We propose a class of nonlinear consensus controllers where the input of each agent can be written as a product of a nonlinear gain,…
In this note we address the problem of indirect adaptive (regulation or tracking) control of nonlinear, input affine dissipative systems. It is assumed that the supply rate, the storage and the internal dissipation functions may be…
This paper demonstrates many immediate connections between adaptive control and optimization methods commonly employed in machine learning. Starting from common output error formulations, similarities in update law modifications are…
The autonomous driving industry is experiencing unprecedented growth, driven by rapid advancements in technology and increasing demand for safer, more efficient transportation. At the heart of this revolution are two critical factors:…
This paper conducts a comprehensive study of a classical adaptive control problem: adaptive control of a state-space plant model: $\dot{x}(t) = A x(t) + B u(t)$ in continuous time, or $x(t+1) = A x(t) + B u(t)$ in discrete time, for state…
In this research we consider linear time-invariant plants and assume that the regressor finite excitation requirement is met. In such case, a new law to adjust the controller parameters, which ensures the exponential stability of the…
This paper investigates the problem of synchronization for nonlinear systems. Following a Lyapunov approach, we firstly study global synchronization of nonlinear systems in canonical control form with both distributed…
We show that linear Active Disturbance-Rejection Control (ADRC) tuned using the "bandwidth method" is equivalent to PI(D) control with set-point weighting and a lowpass filter on the measurement signal. We also provide simple expressions…
The attitude control of a spacecraft is integral to achieving mission success. However, failures in actuators such as reaction wheels are detrimental and can often lead to an early end of mission. We propose a Lyapunov-based adaptive…