Related papers: Balanced control between performance and saturatio…
We study a control architecture for nonlinear constrained systems that integrates a performance-boosting (PB) controller with a scheduled Predictive Safety Filter (PSF). The PSF acts as a pre-stabilizing base controller that enforces state…
Among the existing works on enhancing system performance via prescribed performance functions (PPFs), the decay rates of PPFs need to be predetermined by the designer, directly affecting the convergence time of the closed-loop system.…
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…
We a controlled system driven by a coupled forward-backward stochastic differential equation (FBSDE) with a non degenerate diffusion matrix. The cost functional is defined by the solution of the controlled backward stochastic differential…
In this paper, we investigate safety-critical control problem of discrete-time stochastic systems with incomplete information, where safety constraints must be enforced using state estimates obtained from noisy measurements. We develop an…
We consider a stochastic control problem for a class of nonlinear kernels. More precisely, our problem of interest consists in the optimisation, over a set of possibly non-dominated probability measures, of solutions of backward stochastic…
We propose new methods to synthesize control barrier function (CBF)-based safe controllers that avoid input saturation, which can cause safety violations. In particular, our method is created for high-dimensional, general nonlinear systems,…
A marine vessel is a nonlinear system subject to irregular disturbances such as wind and waves, which cause tracking errors between the nominal and actual trajectories. In this study, a nonlinear vessel maneuvering model that includes a…
This paper proposes an original solution to input saturation and dead zone of fractional order system. To overcome these nonsmooth nonlinearities, the control input is decomposed into two independent parts by introducing an intermediate…
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…
The physical world dynamics are generally governed by underlying partial differential equations (PDEs) with unknown analytical forms in science and engineering problems. Neural network based data-driven approaches have been heavily studied…
This paper presents the analysis and a method to design supplementary damping controllers (SDCs) for synchronous generators considering the effects of saturation limits. Usually such saturations of control signals are imposed in order to…
This paper addresses the multivariable gradient-based extremum seeking control (ESC) subject to saturation. Two distinct saturation scenarios are investigated here: saturation acting on the input of the function to be optimized, which is…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation degrades the performance of the control system, and in extreme…
This work studies the problem of controlling the mean-field density of large-scale stochastic systems, which has applications in various fields such as swarm robotics. Recently, there is a growing amount of literature that employs…
Control Barrier Functions (CBFs) have been demonstrated to be a powerful tool for safety-critical controller design for nonlinear systems. Existing design paradigms do not address the gap between theory (controller design with continuous…
We present a novel class of nonlinear controllers that interpolates among differently behaving linear controllers as a case study for recently proposed Linear and Nonlinear System Level Synthesis framework. The structure of the nonlinear…
In this paper, we investigate the problem of unified prescribed performance tracking for a class of non-square strict-feedback nonlinear systems under relaxed controllability conditions. By using a skillful matrix decomposition and…
Obtaining a controlled invariant set is crucial for safety-critical control with control barrier functions (CBFs) but is non-trivial for complex nonlinear systems and constraints. Backup control barrier functions allow such sets to be…