Related papers: Control Design under Actuator Saturation and Multi…
Firstly, a new state feedback model reference adaptive control approach is developed for uncertain systems with gain scheduled reference models in a multi-input multi-output (MIMO) setting. Specifically, adaptive state feedback for output…
We present a method to design a state-feedback controller ensuring exponential stability for nonlinear systems using only measurement data. Our approach relies on Koopman-operator theory and uses robust control to explicitly account for…
This chapter deals with the design of dynamic allocation functions for systems with saturating actuators. The goal of the allocator consists in redistributing the desired control effort within the multiple actuators by penalizing each…
We study the low-bias stabilization of active magnetic bearings (AMBs) subject to voltage saturation based on a recently proposed model for the AMB switching mode of operation. Using a forwarding-like approach, we construct a stabilizing…
An integral extension of state-feedback controllers for linear time-varying plants is proposed, which preserves performance of the nominal controller in the unperturbed case. Similar to time-invariant state feedback with integral action,…
This paper presents a novel nonlinear backstepping control law for continuous, low-thrust station-keeping in the Earth-Moon system. Quasi-periodic libration point orbits are targeted under a high-fidelity model of the dynamics. Almost…
This paper discusses the systematic design of an adaptive feedback linearizing neurocontroller for a high-order model of the synchronous machine/infinite bus power system. The power system is first modelled as an input-output nonlinear…
Grid-interfacing inverters act as the interface between renewable resources and the electric grid, and have the potential to offer fast and programmable controls compared to synchronous generators. With this flexibility there has been…
While many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking contact with the environment, state-of-the-art control policies struggle to deal with the hybrid nature of multi-contact motion. Such…
We present a stabilizing output-feedback controller for nonlinear finite and infinite-dimensional control systems governed by monotone operators that respects given input constraints. In particular, we show under a detectability-like…
We establish a separation principle for the output feedback stabilisation of state-affine systems that are observable at the stabilization target. Relying on control templates (recently introduced in [4]), that allow to approximate a…
In most dynamic networks, it is impractical to measure all of the system states; instead, only a subset of the states are measured through sensors. Consequently, and unlike full state feedback controllers, output feedback control utilizes…
The ever increasing complexity of real-time control systems results in significant deviations in the timing of sensing and actuation, which may lead to degraded performance or even instability. In this paper we present a method to analyze…
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…
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…
This paper presents a risk mitigating, time-varying feedback control algorithm for crop production when state dynamics are subject to uncertainty. The model based case study concerns a 40 day production round of lettuce in a greenhouse…
This work investigates the cooperative output regulation problem of linear multi-agent systems with hybrid sampled data control. Due to the limited data sensing and communication, in many practical situations, only sampled data are…
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…
We study the stability properties of a control system composed of a dynamical plant and a feedback controller, the latter generating control signals that can be compromised by a malicious attacker. We consider two classes of feedback…
In this paper, we propose a deep unfolding-based framework for the output feedback control of systems with input saturation. Although saturation commonly arises in several practical control systems, there is still a scarce of effective…