Related papers: Extension of a Linear Controller Scheme to Non-Lin…
The inverted pendulum is a mechanical system with a rapidly oscillating pivot point. Using techniques similar in spirit to the methodology of effective field theories, we derive an effective Lagrangian that allows for the systematic…
Stability enforcement remains a challenge in data-driven control paradigms, where no parametrised model of the system is available. For instance, the system's instabilities can be estimated in order to enforce a closed-loop stability…
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…
In this work we present a workflow for designing two linear control techniques applied to the dynamic system quadruple inverted pendulum mounted on a cart (QIP) where the steady state error on cart position is eliminated through a…
Stable concurrent learning and control of dynamical systems is the subject of adaptive control. Despite being an established field with many practical applications and a rich theory, much of the development in adaptive control for nonlinear…
Recently developed control methods with strong disturbance rejection capabilities provide a useful option for control design. The key lies in a general concept of disturbance and effective ways to estimate and compensate the disturbance.…
In this paper, we directly design a state feedback controller that stabilizes a class of uncertain nonlinear systems solely based on input-state data collected from a finite-length experiment. Necessary and sufficient conditions are derived…
We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…
This paper proposes a framework to design an event-triggered based robust control law for linear uncertain system. The robust control law is realized through both static and dynamic event-triggering approach to reduce the computation and…
The paper deals with the problem of output regulation of nonlinear systems by presenting a learning-based adaptive internal model-based design strategy. We borrow from the adaptive internal model design technique recently proposed in [1]…
Stability and stabilization of linear port-Hamiltonian systems on infinite-dimensional spaces are investigated. This class is general enough to include models of beams and waves as well as transport and Schr\"odinger equations with boundary…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
A novel adaptive control approach is proposed to solve the globally asymptotic state stabilization problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback…
Nonlinear contraction theory is a comparatively recent dynamic control system design tool based on an exact differential analysis of convergence, in essence converting a nonlinear stability problem into a linear time-varying stability…
This paper presents the development of a comprehensive dynamics and stabilizing control architecture for Tethered Unmanned Aerial Vehicle (TUAV) systems. The proposed architecture integrates both onboard and ground-based controllers,…
The purpose of this article is to illustrate the role of connections and symmetries in the Wheeled Inverted Pendulum (WIP) mechanism - an underactuated system with rolling constraints - popularized commercially as the Segway, and thereby…
Learning stabilizing controllers from data is an important task in engineering applications; however, collecting informative data is challenging because unstable systems often lead to rapidly growing or erratic trajectories. In this work,…
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…
We introduce the notion of descriptor embedding for nonlinear systems and use it for the data-driven design of stabilizing controllers. Specifically, we provide sufficient data-dependent LMI conditions which, if feasible, return a…
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…