Related papers: Model-Free Optimization and Control of Rigid Body …
This paper presents a novel extremum seeking control (ESC) approach for the vibrational stabilization of a class of mechanical systems (e.g., systems characterized by equations of motion resulting from Newton second law or Euler-Lagrange…
In this paper, we study the problem of extremum seeking control for mechanical systems in dissipation-free environments. This includes attitude control of satellites in space and displacement control of rigid bodies in ideal fluids. The…
In this paper we propose a vertical stabilization~(VS) control system for tokamak plasmas based on the extremum seeking (ES) algorithm. The gist of the proposed strategy is to inject an oscillating term in the control action and exploit a…
Extremum seeking control (ESC) are optimization algorithms in continuous time, with model-based ESCs using true derivative information of the cost function and model-free ESCs utilizing perturbation-based estimates instead. Stability…
This paper presents novel methods for achieving stable and efficient convergence in multivariable extremum seeking control (ESC) using sliding mode techniques. Drawing inspiration from both classical sliding mode control and more recent…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
In [22] a form of extremum seeking for control (ESC) was developed for the stabilization of uncertain nonlinear systems. In ESC the extremum seeker itself controls the systems through feedback rather than fine tuning a controller. The ESC…
This paper studies the extremum seeking control (ESC) problem for a class of constrained nonlinear systems. Specifically, we focus on a family of constraints allowing to reformulate the original nonlinear system in the so-called…
A time optimal attitude control problem is studied for the dynamics of a rigid body. The objective is to minimize the time to rotate the rigid body to a desired attitude and angular velocity while subject to constraints on the control…
This paper presents the design of an extremum seeking controller based on sliding modes and cyclic search for real-time optimization of non-linear multivariable dynamic systems. These systems have arbitrary relative degree, compensated by…
Inverter-based resources (IBRs) are required to provide dynamic voltage support (DVS) during voltage dips to enhance the low-voltage ride-through capability. In this paper, we develop a model-free control method to achieve the optimal DVS…
This work focuses on the optimization of the training trajectory orientation using a robot as an advanced exercise machine (AEM) and muscle activations as biofeedback. Muscle recruitment patterns depend on trajectory parameters of the AEMs…
We propose two perturbation-based extremum seeking control (ESC) schemes for general single input single output nonlinear dynamical systems, having structures similar to that of the classical ESC scheme. We propose novel adaptation laws for…
In this work, we present the integrated structure-control design of a 2-DOF underactuated mechanical system, aiming to achieve a periodic motion of the end-effector. The desired behavior is generated via input-output linearization, followed…
Control-affine Extremum Seeking Control (ESC) systems have been increasingly studied and applied in the last decade. In a recent effort, many control-affine ESC structures have been generalized in a unifying class and their stability was…
This paper addresses the multivariable gradient-based extremum seeking control (ESC) subject to saturation. Two distinct saturation scenarios are investigated here: saturation acting on the input of the function to be optimized, which is…
We present a novel method for optimizing the posture of kinematically redundant torque-controlled robots to improve robustness during impacts. A rigid impact model is used as the basis for a configuration-dependent metric that quantifies…
In this paper we validate, including experimentally, the effectiveness of a recent theoretical developments made by our group on control-affine Extremum Seeking Control (ESC) systems. In particular, our validation is concerned with the…
Extremum Seeking Control (ESC) is a well-known set of continuous time algorithms for model-free optimization of a cost function. One issue for ESCs is the convergence rates of parameters to extrema of unknown cost functions. The local…
Grid-forming (GFM) inverters are essential for enhancing stability in modern power systems with high penetration of inverter-based resources (IBRs). However, their performance highly depends on control parameters tuning, particularly the…