Related papers: Safe Trajectory Tracking of the Stefan Problem wit…
This paper studies the robustness of a PDE backstepping delay-compensated boundary controller for a reaction-diffusion partial differential equation (PDE) with respect to a nominal delay subject to stochastic error disturbance. The…
This work provides stability results in the spatial sup norm for hyperbolic-parabolic loops in one spatial dimension. The results are obtained by an application of the small-gain stability analysis. Two particular cases are selected for the…
This paper studies the time-varying bearing-based tracking of leader-follower formations. The desired constraints between agents are specified by bearing vectors, and several leaders are moving with a bounded reference velocity. Each…
In this paper, problems of optimal control are considered where in the objective function, in addition to the control cost there is a tracking term that measures the distance to a desired stationary state. The tracking term is given by some…
This paper examines the well-posedness of the Stefan problem with a dynamic boundary condition. To show the existence of the weak solution, the original problem is approximated by a limit of an equation and dynamic boundary condition of…
In this paper we consider the one-phase Stefan problem with surface tension, set in a two-dimensional strip-like geometry, with periodic boundary conditions respect to the horizontal direction $x_1\in\mathbb{T}$. We prove that the system is…
Macroscopic traffic flow is stochastic, but the physics-informed deep learning methods currently used in transportation literature embed deterministic PDEs and produce point-valued outputs; the stochasticity of the governing dynamics plays…
A computational PDE-constrained optimization approach is proposed for optimal trajectory planning under uncertainty by means of an associated Schroedinger Bridge Problem (SBP). The proposed SBP formulation is interpreted as the mean-field…
This paper addresses the boundary output feedback stabilization of general 1-D reaction-diffusion PDEs with delayed boundary measurement. The output takes the form of a either Dirichlet or Neumann trace. The output delay can be arbitrarily…
This paper addresses the trajectory-tracking problem for discrete-time linear time-invariant systems with bounded parametric uncertainty, subject to hard constraints on system states, control inputs, and input rates. Unlike existing…
This paper presents a backstepping approach for the boundary control of first-order hyperbolic equations with spatially varying coefficients posed on domains of arbitrary dimension. The method is based on a change of variables induced by…
Semi-Global Exponential Stability (SGES) is proved for the combined attitude and position rigid body motion tracking problem, which was previously only known to be asymptotically stable. Dual quaternions are used to jointly represent the…
We present a methodology for stabilization of general nonlinear systems with actuator dynamics governed by general, quasilinear, first-order hyperbolic PDEs. Since for such PDE-ODE cascades the speed of propagation depends on the PDE state…
This paper investigates the stabilization of a coupled system comprising a parabolic PDE and an elliptic PDE with nonlinear terms. A rigorous backstepping design provides an explicit boundary control law and exponentially convergent…
A logarithmic type modulus of continuity is established for weak solutions to a two-phase Stefan problem, up to the parabolic boundary of a cylindrical space-time domain. For the Dirichlet problem, we merely assume that the spatial domain…
This paper presents a control technique for output tracking of reference signals in continuous-time dynamical systems. The technique is comprised of the following three elements: (i) output prediction which has to track the reference…
This paper presents a data-driven nonlinear safe control design approach for discrete-time systems under parametric uncertainties and additive disturbances. We first characterize a new control structure from which a data-based…
In this paper, we investigate the optimal output tracking problem for linear discrete-time systems with unknown dynamics using reinforcement learning and robust output regulation theory. This output tracking problem only allows to utilize…
We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of…