相关论文: Observer-less Output Feedback Global Tracking Cont…
Linearising the dynamics of nonlinear mechanical systems is an important and open research area. A common approach is feedback linearisation, which is a nonlinear control method that transforms the input-output response of a nonlinear…
Designing accurate yet robust tracking controllers with tight performance guarantees for Lagrangian systems is challenging due to nonlinear modeling uncertainties and conservative stability criteria. This article proposes a…
Learning-based methods are powerful in handling complex scenarios. However, it is still challenging to use learning-based methods under uncertain environments while stability, safety, and real-time performance of the system are desired to…
In this paper, the notion of contraction is used to solve the trajectory-tracking problem for a class of mechanical systems. Additionally, we propose a dynamic extension to remove velocity measurements from the controller while rejecting…
In this work, we derive dynamic output-feedback controllers that render the closed-loop system externally positive. We begin by expressing the class of discrete-time, linear, time-invariant systems and the class of dynamic controllers in…
Understanding the optimization landscape of linear quadratic regulation (LQR) problems is fundamental to the design of efficient reinforcement learning solutions. Recent work has made significant progress in characterizing the landscape of…
The paper describes a continuous second-variation algorithm to solve optimal control problems where the control is defined on a closed set. A second order expansion of a Lagrangian provides linear updates of the control to construct a…
A high-gain observer is used for a class of feedback linearisable nonlinear systems to synthesize safety-preserving controllers over the observer output. A bound on the distance between trajectories under state and output feedback is…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
We consider the static output feedback control for Linear Quadratic Regulator problems with structured constraints under the assumption that system parameters are unknown. To solve the problem in the model free setting, we propose the…
In this paper we propose a methodology for stabilizing single-input single-output feedback linearizable systems when no system model is known and no prior data is available to identify a model. Conceptually, we have been greatly inspired by…
This paper addresses the problem of stabilization for infinite-dimensional systems. In particular, we design nonlinear stabilizers for both linear and nonlinear abstract systems. We focus on two classes of systems: the first class comprises…
Data-driven control has gained significant attention in recent years, particularly regarding feedback linearization of nonlinear systems. However, existing approaches face limitations when it comes to implementing them on hardware. The main…
This paper considers real-time control and learning problems for finite-dimensional linear systems under binary-valued and randomly disturbed output observations. This has long been regarded as an open problem because the exact values of…
The problem of controller reduction has a rich history in control theory. Yet, many questions remain open. In particular, there exist very few results on the order reduction of general non-observer based controllers and the subsequent…
Feedback optimization is a control paradigm that enables physical systems to autonomously reach efficient operating points. Its central idea is to interconnect optimization iterations in closed-loop with the physical plant. Since iterative…
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
Besides parametric uncertainties and disturbances, the unmodeled dynamics and time delay at the input are often present in practical systems, which cannot be ignored in some cases. This paper aims to solve output feedback tracking control…
This paper studies the feedback stabilization of abstract Cauchy problems with unbounded output operators by finite-dimensional controllers. Both necessary conditions and sufficient conditions for feedback stabilizability are presented. The…