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Stability is one of the most fundamental requirements for systems synthesis. In this paper, we address the stabilization problem for unknown linear systems via policy gradient (PG) methods. We leverage a key feature of PG for Linear…
We consider discrete ensembles of linear, scalar control systems with single-inputs. Assuming that all the individual systems are unstable, we investigate whether there exist linear feedback control laws that can asymptotically stabilize…
The problem of PID type controller tuning has been addressed in this paper. In particular, a method of selection of PD settings based on the solution of linear-quadratic optimisation problem using the energy criterion has been investigated.…
This paper studies an attitude control system design based on modified Rodrigues parameters feedback. It employs a linear continuous sliding mode controller. The sliding mode controller is able to bring the existence of the sliding motion…
This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…
For electro-optical imaging systems, line-of-sight stabilization against different disturbances created by mobile platforms is crucial property. The development of high resolution sensors and the demand in increased operating distances have…
Wheeled bipedal robots (WBRs) have the capability to execute agile and versatile locomotion tasks. This paper focuses on improving the dynamic performance of WBRs through innovations in both hardware and software development. Inspired by…
This paper presents robust position control strategies for the novel VSSEA. By employing a constructed state-space model, two control schemes are developed in a unified framework: a state-feedback controller and a sliding mode controller,…
The paper presents a new control algorithm for unstable linear systems with input delay. In comparison with known analogues, the control law has been designed, which is a modification of the Smith predictor, and is the simplest one to…
In this work, we present a novel control approach based on partial feedback linearization (PFL) for the stabilization of a suspended aerial platform with an attached load. Such systems are envisioned for various applications in construction…
Adapting the idea of training CartPole with Deep Q-learning agent, we are able to find a promising result that prevent the pole from falling down. The capacity of reinforcement learning (RL) to learn from the interaction between the…
Standard problem of one-degree-of-freedom mechanical systems with Coulomb friction is revised for a relay-based feedback stabilization. It is recalled that such a system with Coulomb friction is asymptotically stabilizable via a relay-based…
This paper is devoted to the stabilization of a linear control system $y' = A y + B u$ and its suitable non-linear variants where $(A, \cD(A))$ is an infinitesimal generator of a strongly continuous {\it group} in a Hilbert space $\mH$, and…
In this paper, we design a stabilizing state-feedback control law for a system represented by a general class of integral delay equations subject to a pointwise and distributed input delay. The proposed controller is defined in terms of…
Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabilitation. One of these motion maneuvers is walking. In this…
Two different controlling methods are proposed to stabilize unstable continuous-sliding states of a dry-friction oscillator. Both methods are based on a delayed-feedback mechanism well-known for stabilizing periodic orbits in deterministic…
Bagging is an important technique for stabilizing machine learning models. In this paper, we derive a finite-sample guarantee on the stability of bagging for any model. Our result places no assumptions on the distribution of the data, on…
We observe that a wide class of higher-derivative systems admits a bounded integral of motion that ensures the classical stability of dynamics, while the canonical energy is unbounded. We use the concept of a Lagrange anchor to demonstrate…
This paper discusses the design, modeling, and control of Norma, a novel 2 DOF mobile spherical robot (SR). The propelling mechanism of this robot consists of two actuators: a slider, and a rotational pendulum located on the SR's diagonal…
We propose a parameterization of a nonlinear dynamic controller based on the recurrent equilibrium network, a generalization of the recurrent neural network. We derive constraints on the parameterization under which the controller…