Related papers: Data-Driven Track Following Control for Dual Stage…
Digital control has become increasingly prevalent in modern systems, making continuous-time plants controlled by discrete-time (digital) controllers ubiquitous and crucial across industries, including aerospace, automotive, and…
We present a new output feedback fault tolerant control strategy for continuous-time linear systems. The strategy combines a digital nominal controller under controller-driven (varying) sampling with virtual-actuator (VA)-based controller…
This paper presents a characterization of distributed controllers subject to delay constraints induced by a strongly connected communication graph that achieve a prescribed closed loop $\mathcal{H}_\infty$ norm. Inspired by the solution to…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
Although the raison d'etre of the brain is the survival of the body, there are relatively few theoretical studies of closed-loop rhythmic motor control systems. In this paper we provide a unified framework, based on variational analysis,…
A dual-rate control system is a hybrid system composed of continuous-time and discrete-time elements with two sampling frequencies. In this work, a new frequency domain analysis and design approach, based on the Quantitative Feedback Theory…
We consider output tracking and disturbance rejection for abstract infinite-dimensional systems with input saturation. We solve the control problem using a control law which consists of a stabilising error feedback term and a feedforward…
The control for aggressive driving of autonomous cars is challenging due to the presence of significant tyre slip. Data-driven and mechanism-based methods for the modeling and control of autonomous cars under aggressive driving conditions…
This paper focuses on the data-driven optimal structured controller design for discrete-time linear time-invariant (LTI) systems, considering both the $H_2$ performance and the $H_\infty$ performance. Specifically, we consider three…
We present three dynamic error feedback controllers for robust output regulation of regular linear systems. These controllers are (i) a minimal order robust controller for exponentially stable systems (ii) an observer-based robust…
This paper addresses the design of robust dynamic output feedback control for highly uncertain systems in which the unknown disturbance might be excited by the derivative of the control input. This context appears in many industrial…
We consider tracking control for multibody systems which are modelled using holonomic and nonholonomic constraints. Furthermore, the systems may be underactuated and contain kinematic loops and are thus described by a set of…
This study proposes a simple controller design approach to achieve a class of robustness, the so-called iso-damping property. The proposed approach can be executed using only one-shot input/output data. An accurate mathematical model of a…
This article proposes the design of H-infinity-based robust current controller for single-phase grid-feeding voltage source inverter with an LCL filter. The main objective of the proposed controller is to have good reference tracking,…
This article presents a composite nonlinear feedback (CNF) control method using self-triggered (ST) adaptive dynamic programming (ADP) algorithm in a human-machine shared steering framework. For the overall system dynamics, a…
This paper proposes an output feedback controller capable of ensuring steady-state offset-free tracking for ramp and sinusoidal reference signals while ensuring local stability and state and input constraints fulfillment. The proposed…
Today's focus on expanding the capabilities of control systems, resulting from the abundance of data and computational resources, requires data-based alternatives over model-based ones. These alternatives may become the sole tool for…
In this paper, both the fixed-time distributed consensus tracking and the fixed-time distributed average tracking problems for double-integrator-type multi-agent systems with bounded input disturbances are studied, respectively. Firstly, a…
This article concerns the development of the Vector Field Orientation - Active Disturbance Rejection (VFO-ADR) cascaded path-following controller for underactuated vehicles moving in a 3-dimensional space. The proposed concept of a cascaded…
This paper presents a data-driven methodology for the control of static hydraulic impact hammers, also known as rock breakers, which are commonly used in the mining industry. The task addressed in this work is that of controlling the…