Related papers: Subsystem-Based Control with Modularity for Strict…
This study proposes a method for designing stabilizing suboptimal controllers for nonlinear stochastic systems. These systems include time-invariant stochastic parameters that represent uncertainty of dynamics, posing two key difficulties…
This paper considers the problem of robust stability and stabilization for linear fractional-order system with nonlinear uncertain parameters, with fractional order 0<a<2. A dynamic output feedback controller, with predetermined order, for…
This paper revisits a classical challenge in the design of stabilizing controllers for nonlinear systems with a norm-bounded input constraint. By extending Lin-Sontag's universal formula and introducing a generic (state-dependent) scaling…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
This paper presents a new model-based algorithm that computes predictive optimal controls on-line and in closed loop for traditionally challenging nonlinear systems. Examples demonstrate the same algorithm controlling hybrid impulsive,…
This paper investigates the design of decentralized output-feedback controllers for a class of a large scale switched nonlinear systems under arbitrary switching laws. A global large scale switched system can be split into a set of smaller…
By optimizing the predicted performance over a receding horizon, model predictive control (MPC) provides the ability to enforce state and control constraints. The present paper considers an extension of MPC for nonlinear systems that can be…
We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different…
Guaranteeing safety in the presence of unmatched disturbances -- uncertainties that cannot be directly canceled by the control input -- remains a key challenge in nonlinear control. This paper presents a constructive approach to…
Robust control is a core approach for controlling systems with performance guarantees that are robust to modeling error, and is widely used in real-world systems. However, current robust control approaches can only handle small system…
This paper investigates the robust stabilisation of a class of fractional-order non-linear systems via fixed-order dynamic output feedback controller in terms of linear matrix inequalities (LMIs). The systematic stabilisation algorithm…
Control Barrier Functions (CBFs) have emerged as a powerful tool in the design of safety-critical controllers for nonlinear systems. In modern applications, complex systems often involve the feedback interconnection of subsystems evolving…
Recent research shows that supervised learning can be an effective tool for designing near-optimal feedback controllers for high-dimensional nonlinear dynamic systems. But the behavior of neural network controllers is still not well…
This paper develops a semidefinite-programming-based method for online feedback control of nonlinear systems using a state-dependent representation. We formulate sequences of time-varying SDPs whose optimal solutions jointly yield a…
This paper investigates the decentralized stabilization problem for a class of interconnected systems in the presence of non-triangular structural uncertainties and time-varying parameters, where each subsystem exchanges information only…
A nonlinear frequency response based adaptive vibration controller is proposed for a class of nonlinear mechanical systems. In order to obtain the nonlinear Frequency Response Function (FRF), the convergence properties of the system are…
In this paper, we develop a retrofit control method with approximate environment modeling. Retrofit control is a modular control approach for a general stable network system whose subsystems are supposed to be managed by their corresponding…
In this paper, we develop a safe control synthesis method that integrates state estimation and parameter estimation within an adaptive optimal control (AOC) and control barrier function (CBF)-based control architecture. The developed…
This note studies the robust output feedback stabilization problem of a class of multi-input multi-output invertible nonlinear systems, for which an "ideal" state feedback based on feedback linearization can be designed under certain mild…
This paper addresses the problem of computing controllers that are correct by design for safety-critical systems and can provably satisfy (complex) functional requirements. We develop new methods for models of systems subject to both…