Related papers: Motion Planning and Robust Tracking for the Heat E…
This paper considers the prescribed performance control (PPC) of spacecraft attitude tracking under multiple physical constraints, focusing on the robust issues. A novel Barrier Lyapunov function is proposed to realize the…
This paper addresses the design of robust dynamic output feedback control for highly uncertain systems in which the unknown disturbance might be excited by the derivative of the control input. This context appears in many industrial…
We propose a novel approach for sampling-based and control-based motion planning that combines a representation of the environment obtained via a modified version of optimal Rapidly-exploring Random Trees (RRT*), with landmark-based…
We present a novel data-driven model predictive control (MPC) approach to control unknown nonlinear systems using only measured input-output data with closed-loop stability guarantees. Our scheme relies on the data-driven system…
In this paper, a novel online, output-feedback, critic-only, model-based reinforcement learning framework is developed for safety-critical control systems operating in complex environments. The developed framework ensures system stability…
We present a method for contraction-based feedback motion planning of locally incrementally exponentially stabilizable systems with unknown dynamics that provides probabilistic safety and reachability guarantees. Given a dynamics dataset,…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
Appropriate greenhouse temperature should be maintained to ensure crop production while minimizing energy consumption. Even though weather forecasts could provide a certain amount of information to improve control performance, it is not…
It is typically proven in adaptive control that asymptotic stabilization and tracking holds, and that at best a bounded-noise bounded-state property is proven. Recently, it has been shown in both the pole-placement control and the $d$-step…
This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to…
In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship…
Feedback optimization optimizes the steady state of a dynamical system by implementing optimization iterations in closed loop with the plant. It relies on online measurements and limited model information, namely, the input-output…
All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…
This study proposes a simple controller design approach to achieve a class of robustness, the so-called iso-damping property. The proposed approach can be executed using only one-shot input/output data. An accurate mathematical model of a…
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…
This paper is concerned with the output feedback stabilization of a reaction-diffusion equation by means of bounded control inputs in the presence of saturations. Using a finite-dimensional controller composed of an observer coupled with a…
The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…
This paper addresses the set-point control problem of a heat equation with in-domain actuation. The proposed scheme is based on the framework of zero dynamics inverse combined with flat system control. Moreover, the set-point control is…
Motion planning is a fundamental problem and focuses on finding control inputs that enable a robot to reach a goal region while safely avoiding obstacles. However, in many situations, the state of the system may not be known but only…
We study temperature and velocity output tracking problem for a two-dimensional room model with the fluid dynamics governed by the linearized translated Boussinesq equations. Additionally, the room model includes finite-dimensional models…