Related papers: Integrator Anti-Windup Design for Servo-Controller…
The optimization problems with simple bounds are an important class of problems. To facilitate the computation of such problems, an unconstrained-like dynamic method, motivated by the Lyapunov control principle, is proposed. This method…
This paper introduces a novel robust closed-form control law to handle time-varying hard and soft constraints in uncertain high-relative-degree nonlinear MIMO systems. These constraints represent spatiotemporal specifications in mechanical…
This paper addresses the closed-loop ramp comparison current regulation in an induction machine fed by a pulse width modulated voltage source inverter. The regulator is implemented in a synchronous frame, serving as a foundation for an…
This chapter deals with the design of dynamic allocation functions for systems with saturating actuators. The goal of the allocator consists in redistributing the desired control effort within the multiple actuators by penalizing each…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
We present a novel, high-performance attitude control law for multicopters, with a view to recovery from large disturbances. The controller is compared to three well-established alternatives from the literature. All controllers considered…
The paper presents a feedforward plus feedback controller structure with I and PI controllers for control of an integrating process with dead time. Guidelines for controller gain selection based on time domain specifications of damping…
To reduce the chattering and overestimation phenomena existing in classical adaptive sliding mode control, this paper presents a new class K_infinity function-based adaptive sliding mode control scheme. Two controllers are proposed in terms…
A fully analytical controller design is proposed to tackle a periodic control problem for stable linear systems with an input delay. Applying the internal model control scheme, the controller design reduces to designing a filter, which is…
This work proposes a saturated robust controller for a fully actuated multirotor that takes disturbance rejection and rotor thrust saturation into account. A disturbance rejection controller is required to prevent performance degradation in…
Grid-interfacing inverters serve as the interface between renewable energy resources and the electric power grid, offering fast, programmable control capabilities. However, their operation is constrained by hardware limitations, such as…
In this paper we address the growing concerns of wind power integration from the perspective of power system dynamics and stability. We propose a new retrofit control technique where an additional controller is designed at the doubly-fed…
A control based power tower function at order 2 is proposed in this paper. This leads to a new sliding mode control, which allows employing backstepping technique that combines both guaranteed and finite time convergence. The proposed…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
This paper describes the design of a robust controller for position control in systems with sandwiched backlash. The backlash, which is nonsmooth and nonlinear, is inevitable in the operation of many systems, but it can have destructive…
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability while ensuring forward invariance of a prescribed safe set…
This paper presents a nonlinear guidance scheme designed to achieve precise interception of stationary targets at a pre-specified impact time. The proposed strategy essentially accounts for the constraints imposed by the interceptor's…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
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…
This paper presents a new control approach for guaranteed safety (remaining in a safe set) subject to actuator constraints (the control is in a convex polytope). The control signals are computed using real-time optimization, including…