Related papers: Learning disturbance models for offset-free refere…

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…

We study the nonlinear inverse source problem of detecting, localizing and identifying unknown accidental disturbances on forced and damped transmission networks. A first result is that strategic observation sets are enough to guarantee…

We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…

A stochastic model predictive control framework over unreliable Bernoulli communication channels, in the presence of unbounded process noise and under bounded control inputs, is presented for tracking a reference signal. The data losses in…

This paper presents a robust Model Predictive Control (MPC) scheme that provides offset-free setpoint tracking for systems described by Neural Nonlinear AutoRegressive eXogenous (NNARX) models. The NNARX model learns the dynamics of the…

This paper develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…

We complete the first step towards the resolution of several decades-old challenges in disturbance-robust adaptive control. For a scalar linear system with an unknown parameter for which no a priori bound is given, with a disturbance that…

This paper demonstrates the applicability of the combination of concurrent learning as a tool for parameter estimation and non-parametric Gaussian Process for online disturbance learning. A control law is developed by using both techniques…

In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…

In this paper, we propose a novel framework for disturbance rejection in a class of nonautonomous nonlinear systems affected by trigonometric-polynomial disturbances. The core of our approach is the design of a canonical internal model that…

The use of Recurrent Neural Networks (RNNs) for system identification has recently gathered increasing attention, thanks to their black-box modeling capabilities.Albeit RNNs have been fruitfully adopted in many applications, only few works…

This paper proposes a novel Kernelized Data-Driven Predictive Control (KDPC) scheme for robust, offset-free tracking of nonlinear systems. Our computationally efficient hybrid approach separates the prediction: (1) kernel ridge regression…

This paper deals with the design of nonlinear MPC controllers that provide offset-free setpoint tracking for models described by Neural Nonlinear AutoRegressive eXogenous (NNARX) networks. The NNARX model is identified from input-output…

Micron-scale robots ($\mu$bots) have recently shown great promise for emerging medical applications. Accurate controlling $\mu$bots, while critical to their successful deployment, is challenging. In this work, we consider the problem of…

We investigate robust model-free reinforcement learning algorithms designed for environments that may be dynamic or even adversarial. Traditional state-based policies often struggle to accommodate the challenges imposed by the presence of…

Asymptotic disturbance rejection (equivalently tracking) for nonlinear systems has been studied only in qualitative terms (the state is asymptotically stable under bounded disturbances). We show how to prove quantitative performance…

This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…

Reference tracking is a key objective in many control systems, including those characterized by complex nonlinear dynamics. In these settings, traditional control approaches can effectively ensure steady-state accuracy but often struggle to…

This paper focuses on optimal mismatched disturbance rejection control for linear continuoustime uncontrollable systems. Different from previous studies, by introducing a new quadratic performance index to transform the mismatched…

We present a simple model-free control algorithm that is able to robustly learn and stabilize an unknown discrete-time linear system with full control and state feedback subject to arbitrary bounded disturbance and noise sequences. The…