Related papers: Passivity-Based Gain-Scheduled Control with Schedu…
In this paper, a modified robust model predictive control scheme is proposed for linear parametric variable (LPV) and hybrid systems based on a quasi-min-max algorithm. Using a new cost function resulted in reduced unwanted disturbances…
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…
The performance, reliability, cost, size and energy usage of computing systems can be improved by one or more orders of magnitude by the systematic use of modern control and optimization methods. Computing systems rely on the use of…
We investigate a control technique for spatially extended systems combining spatial filtering with a previously studied form of time-delay feedback. The scheme is naturally suited to real-time control of optical systems. We apply the…
This paper studies data-driven control of unknown sampled-data systems with communication delays under an event-triggering transmission mechanism. Data-based representations for time-invariant linear systems with known or unknown system…
In this paper, we address the problem of controlling a system over an unreliable connection that is affected by time-varying delays and randomly occurring packet losses. A novel sequence-based approach is proposed that extends a given…
This paper proposes a technique for automatic gain tuning of a momentum based balancing controller for humanoid robots. The controller ensures the stabilization of the centroidal dynamics and the associated zero dynamics. Then, the…
Predictive control, which is based on a model of the system to compute the applied input optimizing the future system behavior, is by now widely used. If the nominal models are not given or are very uncertain, data-driven model predictive…
We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique…
This manuscript describes several approaches to tune the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we are interested in controllers that preserve the mechanical system…
We propose a purely data-driven model predictive control (MPC) scheme to control unknown linear time-invariant systems with guarantees on stability and constraint satisfaction in the presence of noisy data. The scheme predicts future…
In this paper, a novel delay-independent control structure for a networked control system (NCS) is proposed, where packet-based control strategies with predictor-based and dual-rate control techniques are integrated. The control solution is…
Skill-based programming of robots provides a flexible approach for automation. Existing solutions neglect the optimization of motion sequences, leading to inefficiencies in execution. This work introduces a planning method that enhances…
This paper presents a data-driven min-max model predictive control (MPC) scheme for linear parameter-varying (LPV) systems. Contrary to existing data-driven LPV control approaches, we assume that the scheduling signal is unknown during…
This paper studies the optimal output-feedback control of a linear time-invariant system where a stochastic event-based scheduler triggers the communication between the sensor and the controller. The primary goal of the use of this type of…
Grid-forming voltage source converters (GFM-VSCs) play a crucial role in the stability of power systems with large amounts of converter-based generation. Transient stability (angle stability under large disturbances) is a critical limiting…
Robots with flexible spines based on tensegrity structures have potential advantages over traditional designs with rigid torsos. However, these robots can be difficult to control due to their high-dimensional nonlinear dynamics and actuator…
Discrete-time systems under aperiodic sampling may serve as a modeling abstraction for a multitude of problems arising in cyber-physical and networked control systems. Recently, model- and data-based stability conditions for such systems…
This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…
Networked control systems (NCS) have attracted considerable attention in recent years. While the stabilizability and optimal control of NCS for a given communication system has already been studied extensively, the design of the…