Related papers: Robust $H_{\infty}$ Position Controller for Steeri…
Robotic manipulators are essential for precise industrial pick-and-place operations, yet planning collision-free trajectories in dynamic environments remains challenging due to uncertainties such as sensor noise and time-varying delays.…
Using the context of trajectory estimation and tracking for multi-rotor unmanned aerial vehicles (UAVs), we explore the challenges in applying high-gain observers to highly dynamic systems. The multi-rotor will operate in the presence of…
The need for robust control laws is especially important in safety-critical applications. We propose robust hybrid control barrier functions as a means to synthesize control laws that ensure robust safety. Based on this notion, we formulate…
This paper considers the robustness of event-triggered control of general linear systems against additive or multiplicative frequency-domain uncertainties. It is revealed that in static or dynamic event triggering mechanisms, the sampling…
We present three dynamic error feedback controllers for robust output regulation of regular linear systems. These controllers are (i) a minimal order robust controller for exponentially stable systems (ii) an observer-based robust…
We propose a simple and computationally efficient approach for designing a robust Model Predictive Controller (MPC) for constrained uncertain linear systems. The uncertainty is modeled as an additive disturbance and an additive error on the…
It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire…
In this note we study the generation of attractive oscillations of a class of mechanical systems with underactuation one. The proposed design consists of two terms, i.e., a partial linearizing state feedback, and an immersion and invariance…
In this paper, a robust nonlinear control scheme is designed for the motion control of a class of piezo-actuated nano-positioning systems using frequency-domain analysis. The hysteresis, the nonlinearity in the piezoelectric material,…
This paper investigates the implementation and application of the multi-variable grid-forming hybrid angle control (HAC) for high-power converters in transmission grids. We explore the system-level performance and robustness of the HAC…
Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…
We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…
This work provides formal safety guarantees for control systems with disturbance. A disturbance observer-based robust safety-critical controller is proposed, that estimates the effect of the disturbance on safety and utilizes this estimate…
Current commercial adaptive cruise control (ACC) systems consist of an upper-level planner controller that decides the optimal trajectory that should be followed, and a low-level controller in charge of sending the gas/brake signals to the…
Impedance measurements have been widely used with the Nyquist plot to estimate the stability of interconnected power systems. Being a black-box method for equivalent and aggregated impedance estimation, its use for the identification of…
The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…
This paper proposes a safety-critical controller for dynamic and uncertain environments, leveraging a robust environment control barrier function (ECBF) to enhance the robustness against the measurement and prediction uncertainties…
This paper addresses the problem of regulating the output voltage of a DC-DC buck-boost converter feeding a constant power load,which is a problem of current practical interest. Designing a stabilising controller is theoretically…
Robustness of hybrid control systems to measurement noise, actuator disturbances, and more generally perturbations, is analyzed. The relationship between the robustness of a hybrid control system and of its implementations is emphasized.…
We present a controller for a power electronic system composed of a fuel cell (FC) connected to a boost converter which feeds a resistive load. The controller aims to regulate the output voltage of the converter regardless of the…