Related papers: Disturbance Observers for Robust Safety-critical C…
When the disturbance input matrix is nonlinear, existing disturbance observer design methods rely on the solvability of a partial differential equation or the existence of an output function with a uniformly well-defined disturbance…
In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is…
In this paper, new stability analysis methods are proposed for digital robust motion control systems implemented using a disturbance observer.
The use of available disturbance predictions within a nominal model predictive control formulation is studied. The main challenge that arises is the loss of recursive feasibility and stability guarantees when a persistent disturbance is…
While learning-based control techniques often outperform classical controller designs, safety requirements limit the acceptance of such methods in many applications. Recent developments address this issue through so-called predictive safety…
We address the problem of robust state estimation of a class of discrete-time nonlinear systems with positive-slope nonlinearities when the sensors are corrupted by (potentially unbounded) attack signals and bounded measurement noise. We…
The goal of this paper is to clarify the robustness and performance constraints in the design of control systems based on disturbance observer (DOB). Although the bandwidth constraints of a DOB have long been very well-known by experiences…
This paper proposes a novel Disturbance Observer, termed the High-Performance Disturbance Observer, which achieves more accurate disturbance estimation compared to the conventional disturbance observer, thereby delivering significant…
The robust disturbance rejection controller has been the subject of intensive research due to its undeniable importance for automation. Modern control theory tends to use model-based approaches versus model-free approaches, especially when…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
This paper studies the problem of safe control of sampled-data systems under bounded disturbance and measurement errors with piecewise-constant controllers. To achieve this, we first propose the High-Order Doubly Robust Control Barrier…
In this note, a new reciprocal resistance-based control barrier function (RRCBF) is developed to enhance the robustness of control barrier functions for disturbed affine nonlinear systems, without requiring explicit knowledge of disturbance…
Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as hardware degradation, changing weather patterns, or…
This paper presents extensions of control barrier function (CBF) theory to systems with disturbances wherein a controller only receives measurements infrequently and operates open-loop between measurements, while still satisfying state…
We present an algorithm for robust model predictive control with consideration of uncertainty and safety constraints. Our framework considers a nonlinear dynamical system subject to disturbances from an unknown but bounded uncertainty set.…
There is an emerging trend in applying deep learning methods to control complex nonlinear systems. This paper considers enhancing the runtime safety of nonlinear systems controlled by neural networks in the presence of disturbance and…
In the theory of quantum dynamical filtering, one of the biggest issues is that the underlying system dynamics represented by a quantum stochastic differential equation must be known exactly in order that the corresponding filter provides…
Predictive safety filters enable the integration of potentially unsafe learning-based control approaches and humans into safety-critical systems. In addition to simple constraint satisfaction, many control problems involve additional…
This article presents the design of a robust observer based on the discrete-time formulation of Uncertainty and Disturbance Estimator (UDE), a well-known robust control technique, for the purpose of controlling robot manipulators. The…
This letter offers a novel approach to Test and Evaluation of pre-existing controllers from a control barrier function and dynamics perspective. More aptly, prior Test and Evaluation techniques tend to require apriori knowledge of a space…