Related papers: Servo-Controllers with Operational Constraints
This paper presents a scheme to design a tracking controller for a class of uncertain nonlinear systems using a robust feedback linearization approach. The scheme is composed of two steps. In the first step, a linearized uncertainty model…
This paper presents a novel quadratic programming (QP) approach for constrained control allocation that directly incorporates continuous-time actuator rate constraints without requiring slack variables. Over-actuated aircraft…
In this paper, we deal with the power regulation of tethered-wing systems and demonstrate advantages of variable-pitch control in mitigating the dynamic mechanical loads and power fluctuations. The proposed scheme is based on a strategy…
This paper presents the design of an extremum seeking controller based on sliding modes and cyclic search for real-time optimization of non-linear multivariable dynamic systems. These systems have arbitrary relative degree, compensated by…
In this paper, we introduce the notion of periodic safety, which requires that the system trajectories periodically visit a subset of a forward-invariant safe set, and utilize it in a multi-rate framework where a high-level planner…
The paper presents a novel method for designing an optimal controller for discrete-time switched linear systems. The problem is formulated as one of computing the discrete mode sequence and the continuous input sequence that jointly…
Guaranteeing safe behavior on complex autonomous systems -- from cars to walking robots -- is challenging due to the inherently high dimensional nature of these systems and the corresponding complex models that may be difficult to determine…
In many mechatronic applications, controller input costs are negligible and time optimality is of great importance to maximize the productivity by executing fast positioning maneuvers. As a result, the obtained control input has mostly a…
This paper investigates the problem of regulating in real time a linear dynamical system to the solution trajectory of a time-varying constrained convex optimization problem. The proposed feedback controller is based on an adaptation of the…
This paper is concerned with the design of a linear control law for linear systems with stationary additive disturbances. The objective is to find a state feedback gain that minimizes a quadratic stage cost function, while observing chance…
This paper presents a novel methodology to enforce motion safety guarantees even in the event of a sudden loss of control capabilities by any agent within a multi-agent system. This passive safety methodology permits the replacement of…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
Precision contouring control is crucial in industrial machining processes, particularly for applications such as laser and water jet cutting, where contouring accuracy directly determines product quality. This paper presents a novel control…
We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…
We address the problem of computing a control for a time-dependent nonlinear system to reach a target set in a minimal time. To solve this minimal time control problem, we introduce a hierarchy of linear semi-infinite programs, the values…
In this paper, the incremental nonlinear dynamic inversion (INDI) method is applied to the control system design of coaxial rotor UAVs. The aerodynamic uncertainty and anti-disturbance problems are solved in the control system design. The…
We propose a novel continuous-time algorithm for inequality-constrained convex optimization inspired by proportional-integral control. Unlike the popular primal-dual gradient dynamics, our method includes a proportional term to control the…
This paper focuses on the invariance control problem for discrete-time switched nonlinear systems. The proposed approach computes controlled invariant sets in a finite number of iterations and directly yields a partition-based invariance…
This paper presents a data-driven nonlinear safe control design approach for discrete-time systems under parametric uncertainties and additive disturbances. We first characterize a new control structure from which a data-based…