相关论文: Direct design of LPV feedback controllers: technic…

This manuscript offers the perspective of experimentalists on a number of modern data-driven techniques: model predictive control relying on Gaussian processes, adaptive data-driven control based on behavioral theory, and deep reinforcement…

This paper is aimed at presenting a short survey of velocity-free control schemes for robot manipulators. A salient feature of this work is the implementation of this control schemes on a simulation model of the 3-DOF industrial PHANToM 1.5…

Based on the extension of the behavioral theory and the Fundamental Lemma for Linear Parameter-Varying (LPV) systems, this paper introduces a Data-driven Predictive Control (DPC) scheme capable to ensure reference tracking and satisfaction…

In this paper, we present a general learning-based framework to automatically visual-servo control the position and shape of a deformable object with unknown deformation parameters. The servo-control is accomplished by learning a feedback…

The problem of data-driven control is addressed here in the context of switched affine systems. This class of nonlinear systems is of particular importance when controlling many types of applications in electronic, biology, medicine, etc.…

It is shown that the "intelligent" controllers which are associated to the recently introduced model-free control synthesis may be easily implemented on cheap and small programmable devices. Several successful numerical experiments are…

This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and $ \mathcal{L}_2 $-gain performance with respect to a user-defined set of reference…

We consider the design of a new class of passive iFIR controllers given by the parallel action of an integrator and a finite impulse response filter. iFIRs are more expressive than PID controllers but retain their features and simplicity.…

A Learning Model Predictive Controller (LMPC) is presented and tailored to platooning and Connected Autonomous Vehicles (CAVs) applications. The proposed controller builds on previous work on nonlinear LMPC, adapting its architecture and…

The study addresses the problem of quadcopter motion control using output feedback. By applying a geometric approach, the quadcopter model is transformed into a normal form with a time-varying gain coefficient, which is subsequently made…

We consider the problem of designing a feedback controller which robustly regulates an LTI system to an optimal operating point in the presence of unmeasured disturbances. A general design framework based on so-called optimality models was…

In this paper, we apply a Control Lyapunov Function methodology to design two families of cruise controllers for the two-dimensional movement of autonomous vehicles on lane-free roads using the bicycle kinematic model. The control Lyapunov…

Scaled model experiments are commonly used in various engineering fields to reduce experimentation costs and overcome constraints associated with full-scale systems. The relevance of such experiments relies on dimensional analysis and the…

Recent advances in data sensing and processing technologies enable data-driven control of high-voltage direct-current (HVDC) systems for improving the operational stability of interfacing power grids. This paper proposes an optimal…

Control theory deals with the study of controlling dynamical systems. Robots today are growing increasingly complex and moving out of factory floors to real world environment. These robots have to interact with real world environment…

This paper addresses the problem of computing controllers that are correct by design for safety-critical systems and can provably satisfy (complex) functional requirements. We develop new methods for models of systems subject to both…

The fundamental role of power converters is to efficiently manage and control the flow of electrical energy, ensuring compatibility between power sources and loads. All these applications of power converters need the design of an…

In this paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical optimization problems. The aforementioned problems are defined…

Considering discrete-time linear time-varying systems with unknown dynamics, controllers guaranteeing bounded closed-loop trajectories, optimal performance and robustness to process and measurement noise are designed via convex feasibility…

This paper investigates the longitudinal control problem in a dynamic traffic environment where driving scenarios change between free-driving scenarios and car-following scenarios. A comprehensive longitudinal controller is proposed to…