Related papers: Design and Analysis of a Robust Control System for…
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…
Robust control theory studies the effect of noise, disturbances, and other uncertainty on system performance. Despite growing recognition across science and engineering that robustness and efficiency tradeoffs dominate the evolution and…
Power systems are usually large non-linear systems, which are often subjected to low frequency electromechanical oscillations. Power System Stabilizers are often used as effective and economic means for damping the generator's…
Tube-enhanced multi-stage nonlinear model predictive control is a robust control scheme that can handle a wide range of uncertainties with reduced conservatism and manageable computational complexity. In this paper, we elaborate on the…
This paper proposes a new robust data-driven control method for linear systems with bounded disturbances, where the system model and disturbances are unknown. Due to disturbances, accurately determining the true system becomes challenging…
In this paper we study robust pulse design for electron shuttling in solid state devices. This is crucial for many practical applications of coherent quantum mechanical systems. Our objective is to design control pulses that can transport…
Continuum robots have gained widespread popularity due to their inherent compliance and flexibility, particularly their adjustable levels of stiffness for various application scenarios. Despite efforts to dynamic modeling and control…
Stability enforcement remains a challenge in data-driven control paradigms, where no parametrised model of the system is available. For instance, the system's instabilities can be estimated in order to enforce a closed-loop stability…
The PID controller remains the most widely adopted control architecture, with groundbreaking success across extensive implications. However, optimal parameter tuning for PID controller remains a critical challenge. Existing theories…
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…
Inverter-dominated microgrids are quickly becoming a key building block of future power systems. They rely on centralized controllers that can provide reliability and resiliency in extreme events. Nonetheless, communication failures due to…
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…
Bipedal robots are essentially unstable because of their complex kinematics as well as high dimensional state space dynamics, hence control and generation of stable walking is a complex subject and still one of the active topics in the…
Much research in the last two decades has focused on Virtual Topology Reconfiguration (VTR) problem. However, most of the proposed methods either has low controllability, or the analysis of a control parameter is limited to empirical…
We study dynamics of the inverted pendulum on the wheel on a soft surface and under a proportional-integral-derivative controller. The behaviour of such pendulum is modelled by a system with a differential inclusion. If the the system has a…
The variable-height inverted pendulum (VHIP) model enables a new balancing strategy by height variations of the center of mass, in addition to the well-known ankle strategy. We propose a biped stabilizer based on linear feedback of the VHIP…
An energy based approach for stabilizing a mechanical system has offered a simple yet powerful control scheme. However, since it does not impose such strong constraints on parameter space of the controller, finding appropriate parameter…
Despite decades of research and recent progress in adaptive control and reinforcement learning, there remains a fundamental lack of understanding in designing controllers that provide robustness to inherent non-asymptotic uncertainties…
The main objective of this paper is to propose an alternative procedure to carry out one of the key steps of immersion and invariance stabilising controller design. Namely, the one that ensures attractivity of the manifold whose internal…
While $\mathcal{H}_\infty$ methods can introduce robustness against worst-case perturbations, their nominal performance under conventional stochastic disturbances is often drastically reduced. Though this fundamental tradeoff between…