Related papers: Passivity-Based Gain-Scheduled Control with Schedu…
This paper proposes a prescribed performance function aware hybrid gain finite time sliding mode control framework for a class of nonlinear systems subject to matched disturbances. The hybrid gain structure ensures bounded control effort…
Many traditional robust control approaches assume linearity of the system and independence between the system state-input and the parameters of its approximant (possibly lower-order) model. This assumption implies that the application of…
This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…
In contrast to grid-following inverters, Virtual Synchronous Generators (VSGs) perform well under weak grid conditions but may become unstable when the grid is strong. Grid strength depends on grid impedance, which unfortunately varies over…
We study a control architecture for nonlinear constrained systems that integrates a performance-boosting (PB) controller with a scheduled Predictive Safety Filter (PSF). The PSF acts as a pre-stabilizing base controller that enforces state…
This paper presents a Gain-Scheduled Data-Enabled Predictive Control (GS-DeePC) framework for nonlinear systems based on multiple locally linear data representations. Instead of relying on a single global Hankel matrix, the operating range…
Ranging from cart-pole systems and autonomous bicycles to bipedal robots, control of these underactuated balance robots aims to achieve both external (actuated) subsystem trajectory tracking and internal (unactuated) subsystem balancing…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there is little guidance on the selection of the desired impedance.…
This paper considers the design of sparse actuator schedules for linear time-invariant systems. An actuator schedule selects, for each time instant, which control inputs act on the system in that instant. We address the optimal scheduling…
Gain-scheduled control based on linear parameter-varying (LPV) models derived from local linearizations is a widespread nonlinear technique for tracking time-varying setpoints. Recently, a nonlinear control scheme based on Control…
Static structured control refers to the task of designing a state-feedback controller such that the control gain satisfies a subspace constraint. Structured control has applications in control of communication-inhibited dynamical systems,…
This paper investigates the design of a robust output-feedback linear parameter-varying (LPV) gain-scheduled controller for the speed regulation of a surface permanent magnet synchronous motor (SPMSM). Motor dynamics is defined in the…
This paper presents an admittance controller based on the passivity theory for a powered upper-limb exoskeleton robot which is governed by the nonlinear equation of motion. Passivity allows us to include a human operator and environmental…
This paper provides a constructive passivity-based control approach to solve the set-point regulation problem for input-affine continuous nonlinear systems while considering saturation in the inputs. As customarily in passivity-based…
This paper presents novel stabilizability conditions for switched linear systems with arbitrary and uncontrollable underlying switching signals. We distinguish and study two particular settings: i) the \emph{robust} case, in which the…
The use of multivalued controls derived from a special maximal monotone operator are studied in this note. Starting with a strictly passive linear system (with possible parametric uncertainty and external disturbances) a multivalued control…
Model predictive control is a well established control technology for trajectory tracking. Its use requires the availability of an accurate model of the plant, but obtaining such a model is often time consuming and costly. Data-Enabled…
We propose a new matrix pencil based approach for design of state-feedback and output-feedback stabilizing controllers for a general class of uncertain nonlinear strict-feedback-like systems. While the dynamic controller structure is based…
Embedded systems are becoming more in demand to work in dynamic and uncertain environments, and being confined to the strong requirements of real-time. Conventional static scheduling models usually cannot cope with runtime modification in…