Related papers: Discrete-time Flatness-based Controller Design usi…
This paper revisits the classical notion of sampling in the setting of real-time temporal logics for the modeling and analysis of systems. The relationship between the satisfiability of Metric Temporal Logic (MTL) formulas over…
In this paper, we develop a data-based controller design framework for diffusively coupled systems with guaranteed convergence to an $\epsilon$-neighborhood of the desired formation. The controller is comprised of a fixed controller with an…
Willems et al. showed that all input-output trajectories of a discrete-time linear time-invariant system can be obtained using linear combinations of time shifts of a single, persistently exciting, input-output trajectory of that system. In…
In this paper, a data-driven approach is developed for controller design for a class of discrete-time large-scale systems, where a large-scale system can be expressed in an equivalent data-driven form and the decentralized controllers can…
This paper provides a method for obtaining a continuous-time model of a target system in closed-loop from input-output data alone, in the case where no knowledge of the controllers nor excitation signals is available and I/O data may suffer…
The discrete-time implementation of the super-twisting sliding mode controller for a plant with disturbances with bounded slope, zero-order hold actuation, and actuator constraints is considered. Motivated by restrictions of existing…
Learning-based optimal control algorithms control unknown systems using past trajectory data and a learned model of the system dynamics. These controllers use either a linear approximation of the learned dynamics, trading performance for…
We propose a data-driven control design method for nonlinear systems that builds on kernel-based interpolation. Under some assumptions on the system dynamics, kernel-based functions are built from data and a model of the system, along with…
This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…
In this work, a sampled-data nonlinear observer is designed using a continuous-time design coupled with an inter-sample output predictor. The proposed sampled-data observer is a hybrid system. It is shown that under certain conditions, the…
This paper proposes a tracking controller based on the concept of flat inputs and a dynamic compensator. Flat inputs represent a dual approach to flat outputs. In contrast to conventional flatness-based control design, the regulated output…
This paper proposes an efficient implementation for a continuous terminal algorithm (CTA). Although CTA is a continuous version of the famous twisting algorithm (TA), the conventional implementations of this CTA still suffer from…
For a partially unknown linear systems, we present a systematic control design approach based on generated data from measurements of closed-loop experiments with suitable test controllers. These experiments are used to improve the achieved…
Typically when designing distributed controllers it is assumed that the state-space model of the plant consists of sparse matrices. However, in the discrete-time setting, if one begins with a continuous-time model, the discretization…
We introduce a method to deal with the data-driven control design of nonlinear systems. We derive conditions to design controllers via (approximate) nonlinearity cancellation. These conditions take the compact form of data-dependent…
As control systems grow in complexity, abstraction-based methods have become essential for designing controllers with formal guarantees. However, a key limitation of these methods is their reliance on discrete-time models, typically…
Motivated by the goal of learning controllers for complex systems whose dynamics change over time, we consider the problem of designing control laws for systems that switch among a finite set of unknown discrete-time linear subsystems under…
This paper presents, for the first time, the soft planar vertical take-off and landing (Soft-PVTOL) aircraft. This concept captures the soft aerial vehicle's fundamental dynamics with a minimum number of states and inputs but retains the…
Control laws for continuous-time dynamical systems are most often implemented via digital controllers using a sample-and-hold technique. Numerical discretization of the continuous system is an integral part of subsequent analysis. Feedback…
Motivated by the normal form of a fast-slow ordinary differential equation exhibiting a pitchfork singularity we consider the discrete-time dynamical system that is obtained by an application of the explicit Euler method. Tracking…