Related papers: Robust safety design for strict-feedback nonlinear…
This paper addresses optimal feedback stabilizing control for bounded Jacobian nonlinear discrete-time (DT) systems with nonlinear observations, affected by state and process noise. Instead of directly stabilizing the uncertain system, we…
This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…
An integral extension of state-feedback controllers for linear time-varying plants is proposed, which preserves performance of the nominal controller in the unperturbed case. Similar to time-invariant state feedback with integral action,…
We examine robust output feedback control of discrete-time nonlinear systems with bounded uncertainties affecting the dynamics and measurements. Specifically, we demonstrate how to construct semi-infinite programs that produce gains to…
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…
This paper presents a systematic approach to the design of a robust dynamic state feedback controller using copies of the plant nonlinearities, which is based on the use of IQCs and minimax LQR control. The approach combines a linear state…
This paper presents a scheme to design a tracking controller for a class of uncertain nonlinear systems using a robust feedback linearization approach. The scheme is composed of two steps. In the first step, a linearized uncertainty model…
It is an interesting open problem to achieve adaptive prescribed-time control for strict-feedback systems with unknown and fast or even abrupt time-varying parameters. In this paper we present a solution with the aid of several design and…
This paper presents a robust control synthesis and analysis framework for nonlinear systems with uncertain initial conditions. First, a deep learning-based lifting approach is proposed to approximate nonlinear dynamical systems with linear…
This paper focuses on the problem of constructing time-varying feedback laws that asymptotically stabilize a given part of the state variables for nonlinear control-affine systems. It is assumed that the class of systems under consideration…
This paper is devoted to the development of adaptive control schemes for uncertain discrete-time systems, which guarantee robust, global, exponential convergence to the desired equilibrium point of the system. The proposed control scheme…
This paper discusses stability and robustness properties of a recently proposed observer algorithm for linear time varying systems. The observer is based on the approximation and subsequent modification of the non-negative Lyapunov…
This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
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…
In this paper, we present a state-feedback controller design method for bilinear systems. To this end, we write the bilinear system as a linear fractional representation by interpreting the state in the bilinearity as a structured…
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…
Accurate knowledge of the state variables in a dynamical system is critical for effective control, diagnosis, and supervision, especially when direct measurements of all states are infeasible. This paper presents a novel approach to…
This paper proposes a new Active Disturbance Rejection based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references…