Related papers: PID-GM: PID Control with Gain Mapping
This paper introduces a novel Nussbaum function-based PID control for robotic manipulators. The integration of the Nussbaum function into the PID framework provides a solution with a simple structure that effectively tackles the challenge…
In this paper, we present a new method for estimating the $L_2$-gain of systems governed by 2nd order linear Partial Differential Equations (PDEs) in two spatial variables, using semidefinite programming. It has previously been shown that,…
Various authors have shown that, near the onset of a period-doubling bifurcation, small perturbations in the control parameter may result in much larger disturbances in the response of the dynamical system. Such amplification of small…
Despite the effectiveness of deep neural networks in numerous natural language processing applications, recent findings have exposed the vulnerability of these language models when minor perturbations are introduced. While appearing…
We consider the problem of distributed formation control of a large number of vehicles. An individual vehicle in the formation is assumed to be a fully actuated point mass. A distributed control law is examined: the control action on an…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
In this project, we designed a DC motor whose speed can be controlled by a PID controller. The proportional, integral and derivative gains (KP, KI, KD) of the PID controller are adjusted according to Fuzzy logic. First of all, the fuzzy…
In many science and engineering settings, system dynamics are characterized by governing PDEs, and a major challenge is to solve inverse problems (IPs) where unknown PDE parameters are inferred based on observational data gathered under…
Autonomous driving is achieved by controlling the coupled nonlinear longitudinal and lateral vehicle dynamics. Longitudinal control greatly affects lateral dynamics and must preserve lateral stability conditions, while lateral controllers…
Relaxed conditions are given for stability of a feedback system consisting of an exponentially stable multi-input multi-output nonlinear plant and an integral controller. Roughly speaking, it is shown that if the composition of the plant…
In this paper, we consider the problem of set-point tracking for a discrete-time plant with unknown plant parameters belonging to a convex and compact uncertainty set. We carry out parameter estimation for an associated auxiliary plant, and…
We present a novel strategy for robust dual control of linear time-invariant systems based on gain scheduling with performance guarantees. This work relies on prior results of determining uncertainty bounds of system parameters estimated…
This paper addresses the numerical optimization of proportional-integral-derivative (PID) controllers for linear time-invariant systems with delays, where the derivative action is implemented using a low-pass filter. While performance…
The stability of interconnected linear time-invariant systems using singular values and the small gain theorem has been studied for many decades. The methods of mu-analysis and synthesis has been extensively developed to provide robustness…
Controlling the behaviors of large language models (LLM) is fundamental to their safety alignment and reliable deployment. However, existing steering methods are primarily driven by empirical insights and lack theoretical performance…
A fundamental problem in science and engineering is designing optimal control policies that steer a given system towards a desired outcome. This work proposes Control Physics-Informed Neural Networks (Control PINNs) that simultaneously…
Modern low-carbon power systems come with many challenges, such as increased inverter penetration and increased uncertainty from renewable sources and loads. In this context, the microgrid concept is a promising approach, which is based on…
This paper proposes a new methodology for design of a stabilizing control law for multi-input linear systems with time-varying, singular gains on the control. The results presented here assume the control gain to satisfy persistence of…
The proportional-integral-derivative (PID) control law is often overlooked as a computational imitation of the critic control in human decision. This paper provides a formulation to remedy this problem. Further, based on the characteristic…
In this work, we explore the design of an integrated, low power single chip multi-channel Proportional-Integral-Derivative (PID) controller for emerging miniature robotics, that includes N inputs and N corresponding outputs thereby…