Related papers: Contraction-based Tracking Control of Electromecha…
The design of control engineering applications usually requires a model that accurately represents the dynamics of the real system. In addition to classical physical modeling, powerful data-driven approaches are increasingly used. However,…
This paper presents a structure-preserving model reduction approach applicable to large-scale, nonlinear port-Hamiltonian systems. Structure preservation in the reduction step ensures the retention of port-Hamiltonian structure which, in…
We study the tracking of a trajectory for a nonholonomic system by recasting the problem as an optimal control problem. The cost function is chosen to minimize the error in positions and velocities between the trajectory of a nonholonomic…
This paper proposes a model predictive trajectory tracking approach for quadrotors subject to input constraints. Our proposed approach relies on a hierarchical control strategy with an outer-loop feedback generating the required thrust and…
We examine the problem of weaknesses in frameworks of conceptual modeling for handling certain aspects of the system being modeled. We propose the use of a flow-based modeling methodology at the conceptual level. Specifically, and without…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
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…
Several studies have reported the importance of optimally operating the absorption column in a post-combustion CO2 capture (PCC) plant. It has been demonstrated in our previous work how economic Model Predictive Control (EMPC) has a great…
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…
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a largely open challenge due to excessive computational…
Contraction analysis establishes exponential incremental convergence of a nonlinear system by solving a linear matrix inequality for a contraction metric, and has become a standard resource for solving problems in nonlinear control and…
In this article, we investigate the model based position control of soft hydraulic actuators arranged in an antagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm…
We propose a framework for suboptimal model predictive control (MPC) based on the interconnection of monotone dynamical systems, such as port-Hamiltonian systems. In contrast to classical MPC formulations, where the optimizer is treated as…
Given one open-loop measured trajectory of a single-input single-output discrete-time linear time-invariant system, we present a framework for data-driven controller design for closed-loop finite-horizon dissipativity. First, we parametrize…
Modern power steering systems employ an electric motor drive system to provide torque assistance to the driver. The closed-loop mechanical system dynamics that impact stability, performance and steering feel are significantly impacted by…
This work focuses the tracking control problem for nonlinear systems subjected to unknown external disturbances. Inspired by contraction theory, a neural network-dirven CCM synthesis is adopted to obtain a feedback controller that could…
We present data-based conditions for enforcing contractivity via feedback control and obtain desired asymptotic properties of the closed-loop system. We focus on unknown nonlinear control systems whose vector fields are expressible via a…
This article focuses on the trajectory tracking problem of mobile manipulators (MMs). Firstly, we construct a position and orientation model predictive tracking control (POMPTC) scheme for mobile manipulators. The proposed POMPTC scheme can…
We study port-Hamiltonian systems on a familiy of intervals and characterise all boundary conditions leading to $m$-accretive realisations of the port-Hamiltonian operator and thus to generators of contractive semigroups. The proofs are…