Related papers: Design and Analysis of a Robust Control System for…
This paper studies the emulation-based stabilization of nonlinear networked control systems with two time scales. We address the challenge of using a single communication channel for transmitting both fast and slow variables between the…
Design and implementation of an optimal and robust single-loop voltage controller is proposed for single-phase grid forming voltage source inverter (VSI). The objective of the proposed controller is to have good reference tracking and…
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…
A control design approach is developed for a general class of uncertain strict-feedback-like nonlinear systems with dynamic uncertain input nonlinearities with time delays. The system structure considered in this paper includes a nominal…
In this paper, we propose an approach to controller synthesis for a class of constrained nonlinear systems. It is based on the use of a hybridization, that is a hybrid abstraction of the nonlinear dynamics. This abstraction is defined on a…
Today's heavy-duty mobile machines (HDMMs) face two transitions: from diesel-hydraulic actuation to clean electric systems driven by climate goals, and from human supervision toward greater autonomy. Diesel-hydraulic systems have long…
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
In this paper, the control problem for underactuated systems in the presence of external disturbances and model uncertainties is considered. An adaptive fuzzy sliding mode controller (AFSMC) is proposed to solve the problem, satisfying the…
The ever increasing complexity of real-time control systems results in significant deviations in the timing of sensing and actuation, which may lead to degraded performance or even instability. In this paper we present a method to analyze…
This paper proposes a robust regret control framework in which the performance baseline adapts to the realization of system uncertainty. The plant is modeled as a discrete-time, uncertain linear time-invariant system with real-parametric…
In this paper, a novel robust output regulation control framework is proposed for the system subject to noise, modeled disturbance and unmodeled disturbance to seek tracking performance and robustness simultaneously. The output regulation…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
The effects of model parameter uncertainty on traffic flow control problems have recently drawn research attention. While the uncertainty in fundamental diagram related parameters has been investigated in the past, few articles have focused…
Robust stability and stochastic stability have separately seen intense study in control theory for many decades. In this work we establish relations between these properties for discrete-time systems and employ them for robust control…
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.…
Improving robustness to uncertainty and rejection of external disturbances represents a significant challenge in aerial robotics. Nonlinear controllers based on Incremental Nonlinear Dynamic Inversion (INDI), known for their ability in…
Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which…
The attitude control of a quadrotor is a fundamental problem, which has a pivotal role in a quadrotor stabilization and control. What makes this problem more challenging is the presence of uncertainty such as unmodelled dynamics and unknown…
The problem of robust controller synthesis for plants affected by structured uncertainty, captured by integral quadratic constraints, is discussed. The solution is optimized towards a worst-case white noise rejection specification, which is…