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Stabilization of linear systems with unknown dynamics is a canonical problem in adaptive control. Since the lack of knowledge of system parameters can cause it to become destabilized, an adaptive stabilization procedure is needed prior to…
We present a stochastic predictive controller for discrete time linear time invariant systems under incomplete state information. Our approach is based on a suitable choice of control policies, stability constraints, and employment of a…
In the present work, a simple algorithm for stabilizing an unknown linear time-invariant system is proposed, assuming only that this system is stabilizable. The suggested algorithm is based on first performing a partial identification of…
We propose and analyze a stabilizing iteration scheme for the algorithmic implementation of model predictive control for linear discrete-time systems. Polytopic input and state constraints are considered and handled by means of so-called…
Control of systems where the information between the controller, actuator, and sensor can be lost or delayed can be challenging with respect to stability and performance. One way to overcome the resulting problems is the use of prediction…
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 stabilization of nonautonomous parabolic equations is achieved by feedback inputs tuning a finite number of actuators, where it is assumed that the input is subject to a time delay. To overcome destabilizing effects of the time delay,…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
We develop a predictor-feedback control design for a class of linear systems with state-dependent switching. The main ingredient of our design is a novel construction of an exact predictor state. Such a construction is possible as for a…
This paper presents a new control, namely additive-state-decomposition dynamic inversion stabilized control, that is used to stabilize a class of multi-input multi-output (MIMO) systems subject to nonparametric time-varying uncertainties…
For a wide class of second order nonlinear non-autonomous models, we illustrate that combining proportional state control with the feedback that is proportional to the derivative of the chaotic signal, allows to stabilize unstable motions…
This paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction…
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…
Learning-based control of linear systems received a lot of attentions recently. In popular settings, the true dynamical models are unknown to the decision-maker and need to be interactively learned by applying control inputs to the systems.…
Prediction-based transformation is applied to control-affine systems with distributed input delays. Transformed system state is calculated as a prediction of the system's future response to the past input with future input set to zero.…
This paper deals with the problem of predicting the future state of discrete-time input-delayed systems in the presence of unknown disturbances that can affect both the state and the output equations of the plant. Since the disturbance is…
We consider the modeling, stability analysis and controller design problems for discrete-time LTI systems with state feedback, when the actuation signal is subject to switching propagation delays, due to e.g. the routing in a multi-hop…
This article deals with stabilizing discrete-time switched linear systems. Our contributions are threefold: Firstly, given a family of linear systems possibly containing unstable dynamics, we propose a large class of switching signals that…
It is a well known fact that finite time optimal controllers, such as MPC does not necessarily result in closed loop stable systems. Within the MPC community it is common practice to add a final state constraint and/or a final state penalty…
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and…