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This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…

In this paper we introduce a finite-parameters feedback control algorithm for stabilizing solutions of various classes of damped nonlinear wave equations. Specifically, stabilization the zero steady state solution of initial boundary value…

Characterizing the express power of the Transformer architecture is critical to understanding its capacity limits and scaling law. Recent works provide the circuit complexity bounds to Transformer-like architecture. On the other hand,…

From the complex motions of robots to the oxygen binding of hemoglobin, the function of many mechanical systems depends on large, coordinated movements of their components. Such movements arise from a network of physical interactions in the…

This paper generalizes recent results by the authors on noninvasive model-reference adaptive control designs for control-based continuation of periodic orbits in periodically excited linear systems with matched uncertainties to a larger…

Today, linear PID controllers cannot satisfy requirements of high-precision industry due to the development of technology. According to the literature, reset controllers can overcome this important barrier. However, similar to other…

Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…

This paper is concerned with mismatched disturbance rejection control for the second-order discrete-time systems.Different from previous work, the controllability of the system is applied to design the disturbance compensation gain, which…

Koopman linear representations have become a popular tool for control design of nonlinear systems, yet it remains unclear when such representations are exact. In this paper, we establish sufficient and necessary conditions under which a…

Modern nonlinear control theory seeks to endow systems with properties such as stability and safety, and has been deployed successfully across various domains. Despite this success, model uncertainty remains a significant challenge in…

Generally, the normal displacement-based formation control has a sensing mode that requires the agent not only to have certain knowledge of its direction, but also to gather its local information characterized by nonnegative coupling…

This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…

Due to the rapid developments in synchronized measurement technologies, there exist enormous opportunities to attenuate disturbances in future power grids with high penetration of renewables and complex load demands. To that end, this paper…

This paper presents a delay-adaptive boundary control scheme for a $2\times 2$ coupled linear hyperbolic PDE-ODE cascade system with an unknown and arbitrarily long input delay. To construct a nominal delay-compensated control law, assuming…

Battery energy storage boosts up the response speed of power system frequency regulation, but must be recharged carefully to minimize the distortion to the frequency regulation response. This paper proposes a nonlinear feedback controller…

The trade-off between the noise-sensitivity and the performance of disturbance estimation is well-known in the Disturbance Observer- (DOb-) based motion control systems. As the bandwidth of the DOb increases, not only the performance but…

Bearing-based distributed formation control is attractive because it can be implemented using vision-based measurements to achieve a desired formation. Gradient-descent-based controllers using bearing measurements have been shown to have…

This paper develops an extension of infinite-dimensional backstepping method for parabolic and hyperbolic systems in one spatial dimension with two actuators. Typically, PDE backstepping is applied in 1-D domains with an actuator at one…

The main drawbacks of input-output linearizing controllers are the need for precise dynamics models and not being able to account for input constraints. Model uncertainty is common in almost every robotic application and input saturation is…

We consider the problem of adaptive stabilization for discrete-time, multi-dimensional linear systems with bounded control input constraints and unbounded stochastic disturbances, where the parameters of the true system are unknown. To…