Related papers: Factored Output Feedback Controller Synthesis with…
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 necessary and sufficient conditions for deriving a strictly proper dynamic controller which satisfies the negative imaginary output feedback control problem. Our synthesis method divides the output feedback control…
System level synthesis enables improved robust MPC formulations by allowing for joint optimization of the nominal trajectory and controller. This paper introduces a tailored algorithm for solving the corresponding disturbance feedback…
Motivated by perception-based control problems in autonomous systems, this paper addresses the problem of developing feedback controllers to regulate the inputs and the states of a dynamical system to optimal solutions of an optimization…
Feedback optimization enables autonomous optimality seeking of a dynamical system through its closed-loop interconnection with iterative optimization algorithms. Among various iteration structures, model-based approaches require the…
We consider the feedback design for stabilizing a rigid body system by making and breaking multiple contacts with the environment without prespecifying the timing or the number of occurrence of the contacts. We model such a system as a…
The framework of linear parameter-varying (LPV) systems has shown to be a powerful tool for the design of controllers for complex nonlinear systems using linear tools. In this work, we derive novel methods that allow to synthesize LPV…
A dual formulation for the problem of determining absolute performance limitations on overshoot, undershoot, maximum amplitude and fluctuation minimization for continuous-time feedback systems is constructed. Determining, for example, the…
This paper develops a unified nonconvex optimization framework for the design of group-sparse feedback controllers in infinite-horizon linear-quadratic (LQ) problems. We address two prominent extensions of the classical LQ problem: the…
Navigating dense, lane-less traffic remains one of the most challenging scenarios for autonomous vehicles, especially in emerging regions where road structure and driver behavior are highly unpredictable. This paper presents a hybrid…
We address an optimal control problem for linear stochastic systems with unknown noise distributions and joint chance constraints using conformal prediction. Our approach involves designing a feedback controller to maintain an error system…
We take a divide and conquer approach to design controllers for reachability problems given large-scale linear systems with polyhedral constraints on states, controls, and disturbances. Such systems are made of small subsystems with coupled…
We study distributed output feedback control for a heterogeneous multi-agent system (MAS), consisting of N different continuous-time linear dynamical systems. For achieving output consensus, a virtual reference model is assumed to generate…
Reliable and secure operation of power systems becomes increasingly challenging as the share of volatile generation rises, leading to largely changing dynamics. Typically, the architecture and structure of controllers in power systems, such…
We present a simple and effective way to account for non-convex costs and constraints~in~state feedback synthesis, and an interpretation for the variables in which state feedback synthesis is typically convex. We achieve this by deriving…
This paper proposes a supervisory control structure for networked systems with time-varying delays. The control structure, in which a supervisor triggers the most appropriate controller from a multi-controller unit, aims at improving the…
In networked control systems, often the sensory signals are quantized before being transmitted to the controller. Consequently, performance is affected by the coarseness of this quantization process. Modern communication technologies allow…
In this article, we propose optimal discretization of analog filters (or controllers) based on the theory of sampled-data H-infinity control. We formulate the discretization problem as minimization of the H-infinity norm of the error system…
We present a predictive feedback control method for a class of quasilinear hyperbolic systems with one boundary control input. Assuming exact model knowledge, convergence to the origin, or tracking at the uncontrolled boundary, are achieved…
In this paper, we consider a control synthesis problem for a class of polynomial dynamical systems subject to bounded disturbances and with input constraints. More precisely, we aim at synthesizing at the same time a controller and an…