Related papers: Output Feedback Design for Parameter Varying Syste…
This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…
This paper presents a robust controller using a Linear Parameter Varying (LPV) model of the lane-keeping system with parameter reduction. Both varying vehicle speed and roll motion on a curved road influence the lateral vehicle model…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
The Linear Parameter-Varying (LPV) framework has been introduced with the intention to provide stability and performance guarantees for analysis and controller synthesis for Nonlinear (NL) systems via convex methods. By extending results of…
Real-time measurements of the scheduling parameter of linear parameter-varying (LPV) systems enables the synthesis of robust control invariant (RCI) sets and parameter dependent controllers inducing invariance. We present a method to…
A nonparametric learning solution framework is proposed for the global nonlinear robust output regulation problem. We first extend the assumption that the steady-state generator is linear in the exogenous signal to the more relaxed…
This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and $ \mathcal{L}_2 $-gain performance with respect to a user-defined set of reference…
We study deterministic, discrete linear time-invariant systems with infinite-horizon discounted quadratic cost. It is well-known that standard stabilizability and detectability properties are not enough in general to conclude stability…
The linear quadratic regulator is the fundamental problem of optimal control. Its state feedback version was set and solved in the early 1960s. However the static output feedback problem has no explicit-form solution. It is suggested to…
In this paper, we propose a novel approach to synthesize linear feedback controllers for navigating in polygonal environments using noisy measurements and a convex cell decomposition. Our method is based on formulating chance constraints…
In this paper, we directly design a state feedback controller that stabilizes a class of uncertain nonlinear systems solely based on input-state data collected from a finite-length experiment. Necessary and sufficient conditions are derived…
Reference governors are add-on schemes that are used to modify trajectories to prevent controlled dynamical systems from violating constraints and so are playing an increasingly important role in aerospace, robotic, and other engineering…
We consider output-feedback stabilization problems for a class of two-component linear parabolic systems with boundary actuation and measurement. The state-feedback control laws are obtained using backstepping method and require measurement…
In this paper, we consider the closed-loop control problem of nonlinear robotic systems in the presence of probabilistic uncertainties and disturbances. More precisely, we design a state feedback controller that minimizes deviations of the…
In this paper, we considered a design method of non-linear state feedback controller for input-affine non-linear system taking data losses into account. When data is lost in control system, control input is fixed to constant value or to the…
This paper presents a robust MPC scheme for linear systems subject to time-varying, uncertain constraints that arise from uncertain environments. The predicted input sequence is parameterized over future environment states to guarantee…
We study the stability of coupled impedance passive regular linear systems under power-preserving interconnections. We present new conditions for strong, exponential, and non-uniform stability of the closed-loop system. We apply the…
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 research we consider linear time-invariant plants and assume that the regressor finite excitation requirement is met. In such case, a new law to adjust the controller parameters, which ensures the exponential stability of the…
This paper investigates the robust stabilisation of a class of fractional-order non-linear systems via fixed-order dynamic output feedback controller in terms of linear matrix inequalities (LMIs). The systematic stabilisation algorithm…