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

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…

The selection of an appropriate control strategy is essential for ensuring safe operation in autonomous driving. While numerous control strategies have been developed for specific driving scenarios, a comprehensive comparative assessment of…

Learning controllers from data for stabilizing dynamical systems typically follows a two step process of first identifying a model and then constructing a controller based on the identified model. However, learning models means identifying…

Target output controllers aim at regulating a system's target outputs by placing poles of a suitable subsystem using partial state feedback, where full state controllability is not required. This paper establishes existence conditions for…

This paper investigates two distinct approaches to the dynamic modeling of aerial continuum manipulators (ACMs): the decoupled and the coupled formulations. Both open-loop and closed-loop behaviors of a representative ACM are analyzed. The…

This paper extends our recent results on multi-dimensional discrete-velocity models to the numerical level. By adopting an operator splitting scheme and introducing a suitable discrete Lyapunov function, we derive numerical control laws…

This note aims to provide a systematic investigation of direct data-driven control, enriching the existing literature not by adding another isolated result, but rather by offering a unifying, versatile, and broad framework that enables the…

Decades of research in control theory have shown that simple controllers, when provided with timely feedback, can control complex systems. Pushing is an example of a complex mechanical system that is difficult to model accurately due to…

This paper presents, for the first time, the soft planar vertical take-off and landing (Soft-PVTOL) aircraft. This concept captures the soft aerial vehicle's fundamental dynamics with a minimum number of states and inputs but retains the…

Data-based safe gain-scheduling controllers are presented for discrete-time linear parameter-varying systems (LPV) with polytopic models. First, $\lambda$-contractivity conditions are provided under which safety and stability of the LPV…

We present a broad summary of research involving the application of quantum feedback control techniques to optical set-ups, from the early enhancement of optical amplitude squeezing to the recent stabilisation of photon number states in a…

In this paper, a resilient controller is designed for the linear time-invariant (LTI) systems subject to attacks on the sensors and the actuators. A novel probabilistic attack model is proposed to capture vulnerabilities of the…

This paper considers controlling automated vehicles (AVs) to form a platoon with human-driven vehicles (HVs) under consideration of unknown HV model parameters and propulsion time constants. The proposed design is a data-driven dual-loop…

We study the controller implementability problem, which seeks to determine if a controller can make the closed-loop behavior of a given plant match that of a desired reference behavior. We establish necessary and sufficient conditions for…

Autonomous racing has attracted significant attention recently, presenting challenges in selecting an optimal controller that operates within the onboard system's computational limits and meets operational constraints such as limited track…

We address two aspects of the dynamics of the forced Duffing oscillator which are relevant to the technology of micromechanical devices and, at the same time, have intrinsic significance to the field of nonlinear oscillating systems. First,…

This paper will present observations on the design, artistic, and human factors of creating digital music controllers. Specific projects will be presented, and a set of design principles will be supported from those examples.

In the last decades, the applications of power inverter increased rapidly. As a result, in spite of rectifier, an inverter with a high-power electronic oscillator has capability to convert direct current (DC) into alternating current (AC)…

Gradient-based methods have been widely used for system design and optimization in diverse application domains. Recently, there has been a renewed interest in studying theoretical properties of these methods in the context of control and…

We present an extension of Willems' Fundamental Lemma to the class of multi-input multi-output discrete-time feedback linearizable nonlinear systems, thus providing a data-based representation of their input-output trajectories. Two sources…