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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…
Input constraints as well as parametric uncertainties must be accounted for in the design of safe control systems. This paper presents an adaptive controller for multiple-input-multiple-output (MIMO) plants with input magnitude and rate…
This paper proposes a framework to design an event-triggered based robust control law for linear uncertain system. The robust control law is realized through both static and dynamic event-triggering approach to reduce the computation and…
We consider the set-point control problem for nonlinear systems with flat output that are subject to perturbations. The nonlinear dynamics as well as the perturbations are locally Lipschitz. We apply the model-following control (MFC)…
This paper is an addition to an article previously published by three of the authors that addresses the control of convertible fixed-wing aircraft with vectorized thrust. The control solution here developed extends the one presented in the…
This work addresses the design of static output feedback control of discrete-time nonlinear systems satisfying a local Lipschitz continuity condition with time-varying uncertainties. The controller has also a guaranteed disturbance…
In this paper, we present a new variation of dilated matrix inequalities (MIs) for Bounded Real MI, invariant set MI and constraint MI, for both state and output feedback synthesis problems. In these dilated MIs, system matrices are…
Voronoi coverage control is a particular problem of importance in the area of multi-robot systems, which considers a network of multiple autonomous robots, tasked with optimally covering a large area. This is a common task for fleets of…
Well-designed current control is a key factor in ensuring the efficient and safe operation of modular multilevel converters (MMCs). Even though this control problem involves multiple control objectives, conventional current control schemes…
This paper proposes a novel distributed coverage controller for a multi-agent system with constant-speed unicycle robots (CSUR). The work is motivated by the limitation of the conventional method that does not ensure the satisfaction of…
We study the controllability of a Partial Differential Equation of transport type, that arises in crowd models. We are interested in controlling it with a control being a vector field, representing a perturbation of the velocity, localized…
This paper studies a fundamental relation that exists between stabilizability assumptions usually employed in distributed model predictive control implementations, and the corresponding notions of invariance implicit in such controllers.…
This paper presents a novel anti-windup proportional-integral controller for stable multi-input multi-output nonlinear plants. We use tools from projected dynamical systems theory to force the integrator state to remain in a desired…
Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given as an ordinary differential equation,…
The main purpose of a control allocator is to distribute a total control effort among redundant actuators. This paper proposes a discrete adaptive control allocator for over-actuated sampled-data systems in the presence of actuator…
We consider the problem of computing optimal linear control policies for linear systems in finite-horizon. The states and the inputs are required to remain inside pre-specified safety sets at all times despite unknown disturbances. In this…
In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any initial condition. Necessary and sufficient…
A modulated model predictive controller is designed for an inductor-less modular multilevel converter targeting an MVDC solid-state transformer application. The underlying optimization problem is formulated such that a unique closed-form…
The design of direct data-based controllers has become a fundamental part of control theory research in the last few years. In this paper, we consider three classes of data-based state feedback control problems for linear systems. These…
This paper proposes a novel control architecture for state and input constrained Euler-Lagrange (E-L) systems with parametric uncertainties. A simple saturated controller is strategically coupled with a Barrier Lyapunov Function (BLF) based…