Related papers: Safe Sliding Mode Controllers for Nonlinear Uncert…
Electro-hydraulic servo-systems are widely employed in industrial applications such as robotic manipulators, active suspensions, precision machine tools and aerospace systems. They provide many advantages over electric motors, including…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
The barrier function method for safety control typically assumes the availability of full state information. Unfortunately, in many scenarios involving uncertain dynamical systems, full state information is often unavailable. In this paper,…
This paper presents three types of sliding mode controllers for a magnetic levitation system. First, a proportional-integral sliding mode controller (PI-SMC) is designed using a new switching surface and a proportional plus power rate…
A control design approach is developed for a general class of uncertain strict-feedback-like nonlinear systems with dynamic uncertain input nonlinearities with time delays. The system structure considered in this paper includes a nominal…
This work proposes a sliding mode control barrier function to robustly deal with high relative-degree safety constraints in safety-critical control systems. Stability/tracking objectives, expressed as a nominal control law, and safety…
Guaranteeing safety in the presence of unmatched disturbances -- uncertainties that cannot be directly canceled by the control input -- remains a key challenge in nonlinear control. This paper presents a constructive approach to…
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…
Providing safety guarantees for learning-based controllers is important for real-world applications. One approach to realizing safety for arbitrary control policies is safety filtering. If necessary, the filter modifies control inputs to…
The safety of autonomous driving systems, particularly self-driving vehicles, remains of paramount concern. These systems exhibit affine nonlinear dynamics and face the challenge of executing predefined control tasks while adhering to state…
We address the output regulation problem of linear systems with non-smooth and non-periodic exogenous signals. Specifically, we first formulate and solve the full-information problem by designing a state-feedback controller. We study the…
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…
This study presents a framework to guarantee safety for a class of second-order nonlinear systems under multiple state and input constraints. To facilitate real-world applications, a safety-critical controller must consider multiple…
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…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
Sustained research efforts have been devoted to learning optimal controllers for linear stochastic dynamical systems with unknown parameters, but due to the corruption of noise, learned controllers are usually uncertified in the sense that…
Presence of model uncertainties creates challenges for model-based control design, and complexity of the control design is further exacerbated when coping with nonlinear systems. This paper presents a sliding mode control (SMC) design…
In this paper we present a switching control strategy to incrementally stabilize a class of nonlinear dynamical systems. Exploiting recent results on contraction analysis of switched Filippov systems derived using regularization, sufficient…
This paper studies the problem of stabilization of a nonlinear system with time-varying delays in both sensing and actuation using event-triggered control. Our proposed strategy seeks to opportunistically minimize the number of control…
To reduce the chattering and overestimation phenomena existing in classical adaptive sliding mode control, this paper presents a new class K_infinity function-based adaptive sliding mode control scheme. Two controllers are proposed in terms…