Related papers: Frequency Domain Auto-tuning of Structured LPV Con…
This paper proposes a control architecture for autonomous lane keeping by a vehicle. In this paper, the vehicle dynamics consist of two parts: lateral and longitudinal dynamics. Therefore, the control architecture comprises two subsequent…
Autonomous driving is a complex and highly dynamic process that ensures controlling the coupled longitudinal and lateral vehicle dynamics. Model predictive control, distinguished by its predictive feature, optimal performance, and ability…
Firstly, a new state feedback model reference adaptive control approach is developed for uncertain systems with gain scheduled reference models in a multi-input multi-output (MIMO) setting. Specifically, adaptive state feedback for output…
In this study, we detail the procedures for designing gain scheduling controllers by Linear Quadratic $H_\infty$ robust optimization methods in Linear Matrix Inequalities (LMI) framework. The controllers are aimed at steering control of the…
This article aims to derive a practical tracking control algorithm for flexible air-breathing hypersonic vehicles (FAHVs) with lumped disturbances, unmeasurable states and actuator failures. Based on the framework of the backstepping…
Micro/Nano-positioning stages are of great importance in a wide range of manufacturing machines and instruments. In recent years, the drastically growing demand for higher throughput and reduced power consumption in various IC manufacturing…
Well-designed current control is a key factor in ensuring the efficient and safe operation of modular multilevel converters (MMCs). Even though this control problem involves multiple control objectives, conventional current control schemes…
The framework of linear parameter-varying (LPV) systems has shown to be a powerful tool for the design of controllers for complex nonlinear systems using linear tools. In this work, we derive novel methods that allow to synthesize LPV…
The increasing demands for motion control result in a situation where Linear Parameter-Varying (LPV) dynamics have to be taken into account. Inverse-model feedforward control for LPV motion systems is challenging, since the inverse of an…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
The Linear Parameter-Varying (LPV) framework has long been used to guarantee performance and stability requirements of nonlinear (NL) systems mainly through the $\mathcal{L}_2$-gain concept. However, recent research has pointed out that…
Large language models (LLMs) can translate natural language instructions into executable action plans for robotics, autonomous driving, and other domains. Yet, deploying LLM-driven planning in the physical world demands strict adherence to…
Model Predictive Path Integral control is a powerful sampling-based approach suitable for complex robotic tasks due to its flexibility in handling nonlinear dynamics and non-convex costs. However, its applicability in real-time,…
As the share of renewable generation in large power systems continues to increase, the operation of power systems becomes increasingly challenging. The constantly shifting mix of renewable and conventional generation leads to largely…
This paper deals with sliding mode control for multivariable polytopic uncertain systems. We provide systematic procedures to design variable structure controllers (VSCs) and unit-vector controllers (UVCs). Based on suitable representations…
High penetration of renewable energy sources intensifies frequency fluctuations in multi-area power systems, challenging both stability and operational safety. This paper proposes a novel distributed frequency control method that ensures…
The property that every control system should posses is stability, which translates into safety in real-life applications. A central tool in systems theory for synthesizing control laws that achieve stability are control Lyapunov functions…
Linear parameter-varying (LPV) models form a powerful model class to analyze and control a (nonlinear) system of interest. Identifying an LPV model of a nonlinear system can be challenging due to the difficulty of selecting the scheduling…
Choosing an appropriate parameter set for the designed controller is critical for the final performance but usually requires a tedious and careful tuning process, which implies a strong need for automatic tuning methods. However, among…
This paper addresses the problem of designing an optimal output feedback controller with a specified controller structure for linear time-invariant (LTI) systems to maximize the passivity level for the closed-loop system, in both…