Related papers: Iterative Youla-Kucera Loop Shaping For Precision …
We consider controller design for robust output tracking and disturbance rejection for continuous-time periodic linear systems with periodic reference and disturbance signals. As our main results we present four different controllers: A…
In this paper, we develop a modular design method of decentralized controllers for linear dynamical network systems, where multiple subcontroller designers aim at individually regulating their local control performance with accessibility…
This paper studies the learning-to-control problem under process and sensing uncertainties for dynamical systems. In our previous work, we developed a data-based generalization of the iterative linear quadratic regulator (iLQR) to design…
Various new implicit parameterizations for stabilizing controllers that allow one to impose structural constraints on the controller have been proposed lately. They are convex but infinite-dimensional, formulated in the frequency domain…
We consider the inverse problem of quantitative reconstruction of properties (e.g., bulk modulus, density) of visco-acoustic materials based on measurements of responding waves after stimulation of the medium. Numerical reconstruction is…
In this paper we address the numerical solution of nonlinear ill-posed systems by iterative regularization methods in the classes of Levenberg-Marquardt, trust-region and adaptive quadratic regularization procedures. Both with exact and…
This paper presents a controller design and optimization framework for nonlinear dynamic systems to track a given reference signal in the presence of disturbances when the task is repeated over a finite-time interval. This novel framework…
Quantum systems are exceedingly difficult to engineer because they are sensitive to various types of noises. In particular, time-dependent noises are frequently encountered in experiments but how to overcome them remains a challenging…
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…
Quantum error correcting (QEC) stabilizer codes enable protection of quantum information against errors during storage and processing. Simulation of noisy QEC codes is used to identify the noise parameters necessary for advantageous…
Toward scalable quantum computing, the control of quantum systems needs to be robust against both coherent errors induced by parametric uncertainties and incoherent errors induced by environmental decoherence. This poses significant…
Precise and flexible cart-pushing is a challenging task for mobile robots. The motion constraints during cart-pushing and the robot's redundancy lead to complex motion planning problems, while variable payloads and disturbances present…
This note studies the robust output feedback stabilization problem of a class of multi-input multi-output invertible nonlinear systems, for which an "ideal" state feedback based on feedback linearization can be designed under certain mild…
We propose a robust data-driven output feedback control algorithm that explicitly incorporates inherent finite-sample model estimate uncertainties into the control design. The algorithm has three components: (1) a subspace identification…
This work studies the design problem of feedback stabilizers for discrete-time systems with input delays. A backstepping procedure is proposed for disturbance-free discrete-time systems. The feedback law designed by using backstepping…
This article presents a unified approach to quadratic optimal control for both linear and nonlinear discrete-time systems, with a focus on trajectory tracking. The control strategy is based on minimizing a quadratic cost function that…
This paper presents a novel linear robust Youla controller output observation system for tracking vehicle motion trajectories using a simple nonlinear kinematic vehicle model, supplemented with positional data from a radar sensor. The…
This paper proposes a novel input-output parametrization of the set of internally stabilizing output-feedback controllers for linear time-invariant (LTI) systems. Our underlying idea is to directly treat the closed-loop transfer matrices…
Image-based visual servoing (IBVS) methods have been well developed and used in many applications, especially in pose (position and orientation) alignment. However, most research papers focused on developing control solutions when 3D point…
We present a parameterization of the stabilizing controllers over commutative rings. In the classical case, that is, in the case where there exist the right-/left-coprime factorizations of the given plant, the stabilizing controllers can be…