Related papers: Robust Energy Shaping Control of an Underactuated …
Two-wheeled inverted pendulum robots are designed for self-balancing and they have remarkable advantages. In this paper, a new configuration and consequently dynamic model of one specific robot is presented and its dynamic behavior is…
In this paper we present an energy shaping control law for set-point regulation of the Chaplygin sleigh. It is well known that nonholonomic mechanical systems cannot be asymptotically stabilised using smooth control laws as they do no…
This paper presents a Model-Inspired Distributionally Robust Data-enabled Predictive Control (MDR-DeePC) framework for systems with partially known and uncertain dynamics. The proposed method integrates model-based equality constraints for…
This paper deals with the gradient-based extremum seeking control (ESC) with actuation dynamics governed by distributed wave partial differential equations (PDEs). To achieve the control objective of real-time optimization for this class of…
In this paper we study robust output tracking and disturbance rejection of linear partial differential equation (PDE) models. We focus on demonstrating how the abstract internal model based controller design methods developed for "regular…
We introduce optimal energy shaping as an enhancement of classical passivity-based control methods. A promising feature of passivity theory, alongside stability, has traditionally been claimed to be intuitive performance tuning along the…
In this paper we consider the problem of voltage regulation of a proton exchange membrane fuel cell connected to an uncertain load through a boost converter. We show that, in spite of the inherent nonlinearities in the current-voltage…
This paper presents a new aggregate power tracking control scheme for populations of thermostatically controlled loads (TCLs). The control design is performed in the framework of partial differential equations (PDEs) based on a late-lumping…
Although optimal control problems of dynamical systems can be formulated within the framework of variational calculus, their solution for complex systems is often analytically and computationally intractable. In this Letter we present a…
In this paper, we present a novel control framework to achieve robust push recovery on bipedal robots while locomoting. The key contribution is the unification of hybrid system models of locomotion with a reduced-order model predictive…
In this paper we propose an energy pumping-and-damping technique to regulate nonholonomic systems described by kinematic models. The controller design follows the widely popular interconnection and damping assignment passivity-based…
Model Predictive Control (MPC) is a widely known control method that has proved to be particularly effective in multivariable and constrained control. Closed-loop stability and recursive feasibility can be guaranteed by employing accurate…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
In this work, an advanced motion controller is proposed for buck converter-fed DC motor systems. The design is based on an idea of active disturbance rejection control (ADRC) with its key component being a custom observer capable of…
Model predictive control (MPC) is increasingly being considered for control of fast systems and embedded applications. However, the MPC has some significant challenges for such systems. Its high computational complexity results in high…
Model predictive control (MPC) is an effective method for control of constrained systems but is susceptible to the external disturbances and modeling error often encountered in real-world applications. To address these issues, techniques…
This work studies the null controllability of a system of coupled parabolic PDEs. In particular, our work specializes to an important subclass of these control problems which are coupled by first and zero-order couplings and are,…
Stabilization of a nonlinear single stage inverted pendulum is a complicated control problem, as nonlinearity is present inherently and external factors affect the equilibrium position. In this paper, a PD sliding mode controller is…
In this paper, we design a risk-averse controller for an interconnected system composed of a linear Stochastic Differential Equation (SDE) actuated through a linear parabolic heat equation. These dynamics arise in various applications, such…
In this paper we present a convex formulation of the Model Predictive Control (MPC) optimisation for energy management in hybrid electric vehicles, and an Alternating Direction Method of Multipliers (ADMM) algorithm for its solution. We…