Related papers: Low-Complexity Control for a Class of Uncertain MI…
The objective is to design output feedback event-triggered controllers to stabilize a class of nonlinear systems. One of the main difficulties of the problem is to ensure the existence of a minimum amount of time between two consecutive…
This paper presents a technique for designing output feedback controllers for constrained linear parameter-varying systems that are subject to persistent disturbances. Specifically, we develop an incremental parameter-varying output…
In this work, we develop a control-theoretic framework for constrained optimization problems with composite objective functions including non-differentiable terms. Building on the proximal augmented Lagrangian formulation, we construct a…
The problem of the real-time multiple-input multiple-output (MIMO) array control when requirements on capacity performance, out-of-cell interference, and computational efficiency are simultaneously enforced is addressed by means of an…
We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…
In this paper, we consider the delay-constrained beamforming control for downlink multi-user MIMO (MU- MIMO) systems with imperfect channel state information at the transmitter (CSIT). The delay-constrained control problem is formulated as…
We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems interacting with partially known, time-varying environments. Given…
Recent development of contraction theory based analysis of singularly perturbed system has opened the door for inspecting differential behavior of multi time-scale systems. In this paper a contraction theory based framework is proposed for…
This paper considers the optimization landscape of linear dynamic output feedback control with $\mathcal{H}_\infty$ robustness constraints. We consider the feasible set of all the stabilizing full-order dynamical controllers that satisfy an…
The paper proposes a modular-based approach to constraint handling in process optimization and control. This is partly motivated by the recent interest in learning-based methods, e.g., within bioproduction, for which constraint handling…
In this paper, we tackle the state transformation problem in non-strict full state-constrained systems by introducing an adaptive fixed-time control method, utilizing a one-to-one asymmetric nonlinear mapping auxiliary system. Additionally,…
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…
In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…
This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…
We consider low-order controller design for large-scale linear time-invariant dynamical systems with inputs and outputs. Model order reduction is a popular technique, but controllers designed for reduced-order models may result in unstable…
Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…
Besides parametric uncertainties and disturbances, the unmodeled dynamics and time delay at the input are often present in practical systems, which cannot be ignored in some cases. This paper aims to solve output feedback tracking control…
In this paper, we propose a novel safety-critical control framework for a chain of integrators subject to both matched and mismatched perturbations. The core of our approach is a linear, time-varying state-feedback design that…
Achieving optimal steady-state performance in real-time is an increasingly necessary requirement of many critical infrastructure systems. In pursuit of this goal, this paper builds a systematic design framework of feedback controllers for…
Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for…