Related papers: Input Dexterity and Output Negotiation in Feedback…
Controlling nonlinear systems, especially when data are being used to offset uncertainties in the model, is hard. A natural approach when dealing with the challenges of nonlinear control is to reduce the system to a linear one via change of…
In this paper, we investigate the problem of unified prescribed performance tracking for a class of non-square strict-feedback nonlinear systems under relaxed controllability conditions. By using a skillful matrix decomposition and…
In this paper, we consider the output synchronization problem for a network of heterogeneous diffusively-coupled nonlinear agents. Specifically, we show how the (non-identical) agents can be controlled in such a way that their outputs…
The main drawbacks of input-output linearizing controllers are the need for precise dynamics models and not being able to account for input constraints. Model uncertainty is common in almost every robotic application and input saturation is…
Online coordination of multi-robot systems in open and unknown environments faces significant challenges, particularly when semantic features detected during operation dynamically trigger new tasks. Recent large language model (LLMs)-based…
In this paper, the notion of robust strict QSR-dissipativity is applied to solve the static output feedback control problem for a class of continuous-time nonlinear rational systems subject to input saturation and bounded parametric…
Critical systems must be designed resilient to all kinds of malfunctions. We are especially interested by the loss of control authority over actuators. This malfunction considers actuators producing uncontrolled and possibly undesirable…
In this paper, we propose a deep unfolding-based framework for the output feedback control of systems with input saturation. Although saturation commonly arises in several practical control systems, there is still a scarce of effective…
Optimal control problems of tracking type for a class of linear systems with uncertain parameters in the dynamics are investigated. An affine tracking feedback control input is obtained by considering the minimization of an energy-like…
Motivated by neuronal models from neuroscience, we consider the system identification of simple feedback structures whose behaviors include nonlinear phenomena such as excitability, limit-cycles and chaos. We show that output feedback is…
In this article, we present an algorithm that drives the outputs of a network of agents to jointly track the solutions of time-varying optimization problems in a way that is robust to asynchrony in the agents' operations. We consider three…
The discrete-time robust repetitive control (RC, or repetitive controller, also designated RC) problem for nonlinear systems is both challenging and practical. This paper proposes a discrete-time output-feedback RC design for a class of…
We address modeling and control of a gate access automation system. A model of the mechatronic system is derived and identified. Then an approximate explicit feedback linearization scheme is proposed, which ensures almost linear response…
It is known that input-output approaches based on scaled small-gain theorems with constant $D$-scalings and integral linear constraints are non-conservative for the analysis of some classes of linear positive systems interconnected with…
We study a class of filters -- discrete finite-state transition systems employed as incremental stream transducers -- that have application to robotics: e.g., to model combinatorial estimators and also as concise encodings of feedback…
Sequence modeling tasks across domains such as natural language processing, time series forecasting, and control require learning complex input-output mappings. Nonlinear recurrence is theoretically required for universal approximation of…
We consider the modeling, stability analysis and controller design problems for discrete-time LTI systems with state feedback, when the actuation signal is subject to switching propagation delays, due to e.g. the routing in a multi-hop…
Dexterous manipulation is a critical aspect of human capability, enabling interaction with a wide variety of objects. Recent advancements in learning from human demonstrations and teleoperation have enabled progress for robots in such…
In this work, we propose a rigorous method for implementing predictor feedback controllers in nonlinear systems with unknown and arbitrarily long actuator delays. To address the analytically intractable nature of the predictor, we…
In this paper, we study the event-triggered global robust practical output regulation problem for a class of nonlinear systems in output feedback form with any relative degree. Our approach consists of the following three steps. First, we…