Related papers: Dead-zone compensation via passivity-based control…
Control-based continuation (CBC) is a general and systematic method to explore the dynamic response of a physical system and perform bifurcation analysis directly during experimental tests. Although CBC has been successfully demonstrated on…
In this paper we extend our recently proposed Deadzone-Adapted Disturbance Suppression (DADS) Control approach from systems with matched uncertainties to general systems in parametric strict feedback form. The DADS approach prevents gain…
A method is presented for tracing the locus of a specific peak in the frequency response under variation of a parameter. It is applicable to periodic, steady-state vibrations of harmonically forced nonlinear mechanical systems. It operates…
Sensorless control of Permanent-Magnet Synchronous Motors (PMSM) at low velocity remains a challenging task. A now well-established method consists in injecting a high-frequency signal and use the rotor saliency, both geometric and…
This study proposes a feedback linearisation based on the back-stepping method with simple implementation and unique design process to design a non-linear controller with a goal of improving both steady-state and transient stability. The…
A dead zone in the interaction between two dynamical systems is a region of their joint phase space where one system is insensitive to the changes in the other. These can arise in a number of contexts, and their presence in phase…
The PI control of first-order linear passive systems through a delayed communication channel is revisited in light of the relative stability concept called sigma-stability. Treating the delayed communication channel as a transport PDE, the…
In this paper, we propose a new sampled-data controller for stabilization of the attitude dynamics at a desired constant configuration. The design is based on discrete-time interconnection and damping assignment (IDA) passivity-based…
This paper studies the performance of a continuous controller when implemented on digital devices via sampling and quantization, by leveraging passivity analysis. Degradation of passivity indices from a continuous-time control system to its…
Stabilization of an underactuated mechanical system may be accomplished by energy shaping. Interconnection and damping assignment passivity-based control is an approach based on total energy shaping by assigning desired kinetic and…
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…
In this article we present a novel discrete-time design approach which reduces the deteriorating effects of sampling on stability and performance in digitally controlled nonlinear mechanical systems. The method is motivated by recent…
The aim of this work is to compute a level backstepping control strategy for a coupled tanks system. The coupled tanks plant is a component included in the water treatment system of power plants. The nonlinear-model of the process was…
Model predictive control (MPC) is of increasing interest in applications for constrained control of multivariable systems. However, one of the major obstacles to its broader use is the computation time and effort required to solve a…
This note addresses the output synchronization problem of incrementally output-feedback passive nonlinear systems in the presence of exogenous disturbances. Two kinds of distributed controllers are proposed; one placed at the nodes and the…
We develop a tracking model predictive control (MPC) scheme for nonlinear systems using the linearized dynamics at the current state as a prediction model. Under reasonable assumptions on the linearized dynamics, we prove that the proposed…
Projection-based Controllers (PBCs) are currently gaining traction in both scientific and engineering communities. In PBCs, the input-output signals of the controller are kept in sector-bounded sets by means of projection. In this paper, we…
A comprehensive approach addressing identification and control for learningbased Model Predictive Control (MPC) for linear systems is presented. The design technique yields a data-driven MPC law, based on a dataset collected from the…
This paper proposes a decentralized passive impedance control scheme for collaborative grasping using under-actuated aerial manipulators (AMs). The AM system is formulated, using a proper coordinate transformation, as an inertially…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…