Related papers: AMC26: High-performance DOb for robust position co…

Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…

Model predictive control (MPC) has shown great success for controlling complex systems such as legged robots. However, when closing the loop, the performance and feasibility of the finite horizon optimal control problem (OCP) solved at each…

This paper presents an improved active disturbance rejection control scheme (IFO-ADRC) with an improved fractional-order extended state observer (IFO-ESO). The structural information of the system is utilized in IFO-ESO rather than buried…

This paper is concerned with mismatched disturbance rejection control for the second-order discrete-time systems.Different from previous work, the controllability of the system is applied to design the disturbance compensation gain, which…

Observer-based methods are widely used to estimate the disturbances of different dynamic systems. However, a drawback of the conventional disturbance observers is that they all assume persistent excitation (PE) of the systems. As a result,…

Safety is one of the fundamental challenges in control theory. Recently, multi-step optimal control problems for discrete-time dynamical systems were formulated to enforce stability, while subject to input constraints as well as…

This paper extends the result of my previous papers on the analysis and synthesis of disturbance observer based robust control systems in state space.

Tendon-Driven Continuum Robots (TDCRs) have the potential to be used in minimally invasive surgery and industrial inspection, where the robot must enter narrow and confined spaces. We propose a Model Predictive Control (MPC) approach to…

Interconnection and damping assignment, passivity-based control (IDA-PBC) has proven to be a successful control technique for the stabilisation of many nonlinear systems. In this paper, we propose a method to robustify a system which has…

Heavy-duty operations, typically performed using heavy-duty hydraulic manipulators (HHMs), are susceptible to environmental contact due to tracking errors or sudden environmental changes. Therefore, beyond precise control design, it is…

Robots must satisfy safety-critical state and input constraints despite disturbances and model mismatch. We introduce a robust model predictive control (RMPC) formulation that is fast, scalable, and compatible with real-time implementation.…

Motivated by the super-diffusivity of self-repelling random walk, which has roots in statistical physics, this paper develops a new perturbation mechanism for optimization algorithms. In this mechanism, perturbations are adapted to the…

This article proposes an improved trajectory optimization approach for stochastic optimal control of dynamical systems affected by measurement noise by combining optimal control with maximum likelihood techniques to improve the reduction of…

This paper proposes a novel orientation-aware model predictive control (MPC) for dynamic humanoid walking that can plan footstep locations online. Instead of a point-mass model, this work uses the augmented single rigid body model (aSRBM)…

This paper considers a disturbance attenuation problem for a linear discrete time invariant system under random disturbances with imprecisely known probability distributions. The statistical uncertainty is measured in terms of relative…

This paper considers stochastic linear time-invariant systems subject to constraints on the average number of state-constraint violations over time without knowing the disturbance distribution. We present a novel disturbance-adaptive model…

In this study, we introduce a refined method for ascertaining error estimations in numerical simulations of dynamical systems via an innovative application of composition techniques. Our approach involves a dual application of a basic…

This paper studies robust tracking control for a leader-follower multi-agent system (MAS) subject to disturbances. A challenging problem is considered here, which differs from those in the literature in two aspects. First, we consider the…

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…

Applying quantum annealing or current quantum-/physics-inspired algorithms for MIMO detection always abandon the direct gray-coded bit-to-symbol mapping in order to obtain Ising form, leading to inconsistency errors. This often results in…