Related papers: Motion Planning and Robust Tracking for the Heat E…
In this paper, we consider the problem of set-point tracking for a discrete-time plant with unknown plant parameters belonging to a convex and compact uncertainty set. We carry out parameter estimation for an associated auxiliary plant, and…
We consider robust output regulation of a partial differential equation model describing temperature evolution in a room. More precisely, we examine a two-dimensional room model with the velocity field and temperature evolution governed by…
This paper studies the design of a finite-dimensional output feedback controller for the stabilization of a reaction-diffusion equation in the presence of a sector nonlinearity in the boundary input. Due to the input nonlinearity, classical…
This paper presents a control technique for output tracking of reference signals in continuous-time dynamical systems. The technique is comprised of the following three elements: (i) output prediction which has to track the reference…
Model mismatch and process noise are two frequently occurring phenomena that can drastically affect the performance of model predictive control (MPC) in practical applications. We propose a principled way to tune the cost function and the…
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…
We present a method for providing statistical guarantees on runtime safety and goal reachability for integrated planning and control of a class of systems with unknown nonlinear stochastic underactuated dynamics. Specifically, given a…
In this paper, we investigate the optimal output tracking problem for linear discrete-time systems with unknown dynamics using reinforcement learning and robust output regulation theory. This output tracking problem only allows to utilize…
We consider output tracking and disturbance rejection for abstract infinite-dimensional systems with input saturation. We solve the control problem using a control law which consists of a stabilising error feedback term and a feedforward…
We study the tracking or sidewise controllability of the heat equation. More precisely, we seek for controls that, acting on part of the boundary of the domain where the heat process evolves, aim to assure that the normal trace or flux on…
In this paper, we consider the boundary stabilization and observation of the multidimensional unstable heat equation. Since we consider the heat equation in a general domain, the usual partial differential equation back-stepping method is…
Safe obstacle avoidance and target set stabilization for nonlinear systems using reactive feedback control is under consideration. Based only on local information and by considering virtual dynamics, a safe path is generated online. The…
This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…
Robust output regulation for linear time-varying systems has remained an open problem for decades. To address this, we propose the trajectory-matching system immersion framework, by reformulating the regulator equation into a more…
Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is fast, scalable, and compatible with real-time implementation.…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
We consider the set-point control problem for nonlinear systems with flat output that are subject to perturbations. The nonlinear dynamics as well as the perturbations are locally Lipschitz. We apply the model-following control (MFC)…
Robust motion planning entails computing a global motion plan that is safe under all possible uncertainty realizations, be it in the system dynamics, the robot's initial position, or with respect to external disturbances. Current approaches…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
Boundary feedback control design is studied for 1D hyperbolic systems with an in-domain disturbance and a boundary feedback controller under the effect of actuator saturation. Nonlinear semigroup theory is used to prove well-posedness of…