Related papers: Discrete-Time State-Feedback Controller with Canon…
The control of devices with limited input always bring attention to solve by research due to its difficulty and non-trival solution. For instance, the inverted pendulum is benchmarking problem in control theory and machine learning. In this…
We consider a controlled quantum system whose finite dimensional state is governed by a discrete-time nonlinear Markov process. In open-loop, the measurements are assumed to be quantum non-demolition (QND). The eigenstates of the measured…
Limitations of the delayed feedback control and of its extended versions have been fully treated in the literature. The oscillating delayed feedback control appears as a promising scheme to overcome this problem. In this work, two methods…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
This paper explores the decentralized control of linear deterministic systems in which different controllers operate based on distinct state information, and extends the findings to the output feedback scenario. Assuming the controllers…
This paper proposes a stabilizing state-feedback control law for vector-valued state systems with a scalar control input, governed by a general class of integral difference equations that incorporate both pointwise and distributed input…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and…
This paper addresses the problem of designing an anti-windup like compensator for discrete-time linear control systems with quantized input. The proposed compensator provides a correction signal proportional to the quantization error that…
This paper presents a novel approach for steering the state of a stochastic control-affine system to a desired target within a finite time horizon. Our method leverages the time-reversal of diffusion processes to construct the required…
We develop a predictor-feedback control design for multi-input nonlinear systems with distinct input delays, of arbitrary length, in each individual input channel. Due to the fact that different input signals reach the plant at different…
This paper discusses the in-domain feedback stabilization of reaction-diffusion PDEs with Robin boundary conditions in the presence of an uncertain time- and spatially-varying delay in the distributed actuation. The proposed control design…
Quantum feedback control is a technology which can be used to drive a quantum system into a predetermined eigenstate. In this article, sufficient conditions for the experiment parameters of a quantum feedback control process of a homodyne…
Classical discrete-time adaptive controllers provide asymptotic stabilization. While the original adaptive controllers did not handle noise or unmodelled dynamics well, redesigned versions were proven to have some tolerance; however,…
This paper studies the boundary feedback stabilization of a class of diagonal infinite-dimensional boundary control systems. In the studied setting, the boundary control input is subject to a constant delay while the open loop system might…
We develop autonomous agents fighting with each other, inspired by human wrestling. For this purpose, we propose a coupled inverted pendula (CIP) framework in which: 1) tips of two inverted pendulums are linked by a connection rod, 2) each…
We study feedback control for discrete-time linear time-invariant systems in the presence of quantization both in the control action and in the measurement of the controlled variable. While in some application the quantization effects can…
Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. However, the practical implementation of this method is…
Using the policy gradient algorithm, we train a single-hidden-layer neural network to balance a physically accurate simulation of a single inverted pendulum. The trained weights and biases can then be transferred to a physical agent, where…
We consider a classical problem of control of an inverted pendulum by means of a horizontal motion of its pivot point. We suppose that the control law can be non-autonomous and non-periodic w.r.t. the position of the pendulum. It is shown…