Related papers: Design and Analysis of a Robust Control System for…
This paper considers the distributed robust suboptimal consensus control problem of linear multi-agent systems, with both H2 and H_infty performance requirements. A novel two-step complementary design approach is proposed. In the first…
This work studies the stabilization for a periodic parabolic system under perturbations in the system conductivity. A perturbed system does not have any periodic solution in general. However, we will prove that the perturbed system can…
This paper concerns a class of uncertain linear quantum systems subject to quadratic perturbations in the system Hamiltonian. A small gain approach is used to evaluate the performance of the given quantum system. In order to get improved…
The precise implementation and manipulation of quantum gates is key to extracting advantages from future quantum technologies. Achieving this requires very accurate control over the quantum system. If one has complete knowledge about a…
Control of multi-level quantum systems is sensitive to implementation errors in the control field and uncertainties associated with system Hamiltonian parameters. A small variation in the control field spectrum or the system Hamiltonian can…
The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…
Most systems exhibit significant variability in their dynamics, including variations in system parameters and large high-frequency dynamic uncertainties. Traditional uncertainty modelling techniques consolidate all such variations into a…
We consider the problem of stabilization of a linear system, under state and control constraints, and subject to bounded disturbances and unknown parameters in the state matrix. First, using a simple least square solution and available…
Stably inverting a dynamic system model is the foundation of numerous servo designs. Existing inversion techniques have provided accurate model approximations that are often highly effective in feedforward controls. However, when the…
Control systems can show robustness to many events, like disturbances and model inaccuracies. It is natural to speculate that they are also robust to sporadic deadline misses when implemented as digital tasks on an embedded platform. This…
In this study, we present a novel sliding mode safety-critical controller designed to address both stability and safety concerns in a class of nonlinear uncertain systems. The controller features two feedback loops: an inner loop designed…
A state space based design method is given to find strongly stabilizing controllers for multiple-input-multiple-output plants (MIMO). A sufficient condition is derived for the existence of suboptimal stable H-infinity controller in terms of…
In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
Safe control with guarantees generally requires the system model to be known. It is far more challenging to handle systems with uncertain parameters. In this paper, we propose a generic algorithm that can synthesize and verify safe…
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…
This study proposes a feedback linearisation based on the back-stepping method with simple implementation and unique design process to design a non-linear controller with a goal of improving both steady-state and transient stability. The…
This work describes a technique for active rejection of multiple independent and time-correlated stochastic disturbances for a nonlinear flexible inverted pendulum with cart system with uncertain model parameters. The control law is…
We propose a Stein variational distributionally robust controller for nonlinear dynamical systems with latent parametric uncertainty. The method is an alternative to conservative worst-case ambiguity-set optimization with a deterministic…