Related papers: Quaternion-based attitude stabilization via discre…
In this paper, we present a data-driven distributed model predictive control (MPC) scheme to stabilise the origin of dynamically coupled discrete-time linear systems subject to decoupled input constraints. The local optimisation problems…
In this paper, we address the rigid body pose stabilization problem using dual quaternion formalism. We propose a hybrid control strategy to design a switching control law with hysteresis in such a way that the global asymptotic stability…
Model Predictive Control (MPC) has proven to be a powerful tool for the control of systems with constraints. Nonetheless, in many applications, a major challenge arises, that is finding the optimal solution within a single sampling instant…
Discrete abstractions have become a standard approach to assist control synthesis under complex specifications. Most techniques for the construction of a discrete abstraction for a continuous-time system require time-space discretization of…
We introduce the framework of performative control, where the policy chosen by the controller affects the underlying dynamics of the control system. This results in a sequence of policy-dependent system state data with policy-dependent…
It is shown that a switching control involving a finite number of Dirac delta actuators is able to steer the state of a general class of nonautonomous parabolic equations to zero as time increases to infinity. The strategy is based on a…
We propose a concatenated approach for implementing transitionless quantum driving regardless of adiabatic conditions while being robustness with respect to all kinds of systematic errors induced by pulse duration, pulse amplitude,…
Over the past few decades, continuous quaternion-based attitude control has been proven highly effective for driving rotational systems that can be modeled as rigid bodies, such as satellites and drones. However, methods rooted in this…
The rigid body attitude estimation problem is treated using the discrete-time Lagrange-d'Alembert principle. Three different possibilities are considered for the multi-rate relation between angular velocity measurements and direction vector…
This paper studies a central planner's decision making on behalf of a group of members with diverse discount rates. In the context of optimal stopping, we work with an aggregation preference to incorporate all discount rates via an attitude…
We present a novel robust control framework for continuous-time, perturbed nonlinear dynamical systems with uncertainty that depends nonlinearly on both the state and control inputs. Unlike conventional approaches that impose structural…
In this paper, we examine the shifted passivity property of port-Hamiltonian systems. Shifted passivity accounts for the fact that in many applications the desired steady-state values of the input and output variables are nonzero, and thus…
This paper provides observer-based sampled-data and event-triggered boundary control strategies for a class of reaction-diffusion PDEs with collocated sensing and Robin actuation. Infinite-dimensional backstepping design is used as the…
This paper presents the software entitled "Partial Pole Placement via Delay Action", or "P3$\delta$" for short. P3$\delta$ is a Python software with a friendly user interface for the design of parametric stabilizing feedback laws with…
We consider the constrained stabilization problem of second-order systems evolving on the n-sphere. We propose a control strategy with a constraint proximity-based dynamic damping mechanism that ensures safe and almost global asymptotic…
This paper proposes a passivity-based port-Hamiltonian (pH) framework for multi-agent displacement-based and rigid formation control and velocity tracking. The control law consists of two parts, where the internal feedback is to track the…
We study feedback control of classical Hamiltonian systems with the controlling parameter varying slowly in time. The control aims to change system's energy. We show that the control problems can be solved with help of an adiabatic…
This paper studies the experimental comparison of two different whole-body control formulations for humanoid robots: inverse dynamics whole-body control (ID-WBC) and passivity-based whole-body control (PB-WBC). The two controllers…
Synthesizing safety controllers for general nonlinear systems is a highly challenging task, particularly when the system models are unknown, and input constraints are present. While some recent efforts have explored data-driven safety…
This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints,…