Related papers: Frequency Domain Auto-tuning of Structured LPV Con…
The manufacturing industry is undergoing a transformative shift, driven by cutting-edge technologies like 5G, AI, and cloud computing. Despite these advancements, effective system control, which is crucial for optimizing production…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…
This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbance. The adaptive controller ensures uniformly bounded transient and asymptotic tracking…
Linear parameter-varying (LPV) systems with uncertainty in time-varying delays are subject to performance degradation and instability. In this line, we investigate the stability of such systems invoking an input-output stability approach.…
The stabilization of uncertain LTI/LPV time delay systems with time varying delays by state-feedback controllers is addressed. At the difference of other works in the literature, the proposed approach allows for the synthesis of resilient…
Many applications in mechanical, acoustic, and electronic engineering require estimating complex dynamical models, often represented as additive multi-input multi-output (MIMO) transfer functions with structural constraints. This paper…
Mobile robotic manipulators (MRMs), which integrate mobility and manipulation capabilities, present significant control challenges due to their nonlinear dynamics, underactuation, and coupling between the base and manipulator subsystems.…
This paper presents a multi-objective digital PID controller design method using the parameter space approach of robust control. Absolute stability is treated first by finding the digital PID controller gain parameter space corresponding to…
This thesis presents fuzzy-L1 adaptive controller and Model Reference Adaptive Control (MRAC) with Prescribed Performance Function (PPF) as two adaptive approaches for high nonlinear systems as two original contribution to the literature.…
For certain industrial control applications an explicit function capturing the nontrivial trade-off between competing objectives in closed loop performance is not available. In such scenarios it is common practice to use the human innate…
Traditional control system design, reliant on expert knowledge and precise models, struggles with complex, nonlinear, or uncertain dynamics. This paper introduces AgenticControl, a novel multi-agent framework that automates controller…
This paper proposes an adaptive stochastic Model Predictive Control (MPC) strategy for stable linear time invariant systems in the presence of bounded disturbances. We consider multi-input multi-output systems that can be expressed by a…
This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…
In this paper we address the actuator/sensor allocation problem for linear time invariant (LTI) systems. Given the structure of an autonomous linear dynamical system, the goal is to design the structure of the input matrix (commonly denoted…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
This paper proposes an simple but yet effective approach to structured parametric controller design in a linear fractional form. The main contribution consists in using structured $\mathcal{H}_\infty$ oriented optimization tools in an…
Ensuring operational control over automated vehicles is not trivial and failing to do so severely endangers the lives of road users. An integrated approach is necessary to ensure that all agents play their part including drivers, occupants,…
This paper develops a novel control synthesis approach for a wide class of practical systems. The control action is derived by inserting a compensator device in the forward path of the system that is to be controlled. The compensator design…
This work addresses the design of static output feedback control of discrete-time nonlinear systems satisfying a local Lipschitz continuity condition with time-varying uncertainties. The controller has also a guaranteed disturbance…
This paper introduces a method for efficiently updating a nominal stabilizing static output feedback (SOF) controller in perturbed linear systems. As operating points and state-space matrices change in dynamic systems, accommodating updates…