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In this paper, we propose several rules to tune the gains for a class of passivity-based controllers for nonlinear mechanical systems. Such tuning rules prescribe a desired local transient response behavior to the closed-loop system. To…
Three-phase AC-DC rectifiers are fundamental components in modern power electronics systems, yet achieving rapid voltage regulation and precise current tracking under load and grid disturbances remains challenging due to nonlinear dynamics…
PET is a functional imaging method that visualizes metabolic processes. TOF information can be derived from coincident detector signals and incorporated into image reconstruction to enhance the SNR. PET detectors are typically assessed by…
Robotic surface consisting of many actuators can change shape to perform tasks, such as facilitating human-machine interactions and transporting objects. Increasing the number of actuators can enhance the robot's capacity, but controlling…
Nowadays, liquid rocket engines use closed-loop control at most near steady operating conditions. The control of the transient phases is traditionally performed in open-loop due to highly nonlinear system dynamics. This situation is…
Calibration is crucial for ensuring the performance of phased array since amplitude-phase imbalance between elements results in significant performance degradation. While amplitude-only calibration methods offer advantages when phase…
The response to a setpoint change in PID controlled feedback systems plays an important role for the tuning methods. This response may be easily evaluated in linear systems without delay by solving the related ordinary differential…
This paper proposes efficient policy iteration and value iteration algorithms for the continuous-time linear quadratic regulator problem with unmeasurable states and unknown system dynamics, from the perspective of direct data-driven…
This study proposes a one-shot data-driven tuning method for a fractional-order proportional-integral-derivative (FOPID) controller. The proposed method tunes the FOPID controller in the model-reference control formulation. A loss function…
This paper investigates options to complement a diesel engine airpath feedback controller with a feedforward. The control objective is to track the intake manifold pressure and exhaust gas recirculation (EGR) rate targets by manipulating…
Feedback control systems do not do what you ask. The concept of bandwidth is defined to tell what components of a command are reasonably well handled. Iterative Learning Control (ILC) seeks to converge to zero error following any given…
Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking…
A modification to the ${\cal L}_1$ control framework for uncertain systems with actuator delay is presented. Specifically, a time delay is introduced in the control input of the state predictor to compensate for the destabilizing effect of…
It was recently shown that the use of feedback control can improve the performance of a flashing ratchet. We investigate the effect of a time delay in the implementation of feedback control in a closed-loop collective flashing ratchet,…
This paper addresses the design of finite-dimensional feedback control laws for linear discrete-time fractional-order systems with additive state disturbance. A set of sufficient conditions are provided to guarantee convergence of the state…
This paper addresses the formation maneuver control problem of leader-follower multi-agent systems with high-order integrator dynamics. A distributed output feedback formation maneuver controller is proposed to achieve desired maneuvers so…
The use of a feedback motion plan instead of the decoupled scheme consisting of separate plan and control phases can facilitate the task of proving the properties of an autonomous system. The advantage of using a feedback motion plan is the…
This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and $ \mathcal{L}_2 $-gain performance with respect to a user-defined set of reference…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
Precision contouring control is crucial in industrial machining processes, particularly for applications such as laser and water jet cutting, where contouring accuracy directly determines product quality. This paper presents a novel control…