相关论文: Robustness of the nonlinear PI control method to i…

This paper deals with the stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…

This article addresses the output regulation problem for a class of nonlinear systems using a data-driven approach. An output feedback controller is proposed that integrates a traditional control component with a data-driven learning…

This paper is concerned with the Proportional Integral (PI) regulation control of the left Neu-mann trace of a one-dimensional semilinear wave equation. The control input is selected as the right Neumann trace. The control design goes as…

This paper studies robust output tracking and disturbance rejection for boundary controlled infinite-dimensional port--Hamiltonian systems including second order models such as the Euler--Bernoulli beam. The control design is achieved using…

In this paper, we propose to use a nonlinear adaptive PID controller to regulate the joint variables of a mobile manipulator. The motion of the mobile base forces undue disturbances on the joint controllers of the manipulator. In designing…

Suitable continuity and boundedness assumptions on the function f defining the dynamics of a time-varying nonimpulsive system with inputs are known to make the system inherit stability properties from the zero-input system. Whether this…

Control-based continuation (CBC) is a general and systematic method to explore the dynamic response of a physical system and perform bifurcation analysis directly during experimental tests. Although CBC has been successfully demonstrated on…

Solving nonlinear model predictive control problems in real time is still an important challenge despite of recent advances in computing hardware, optimization algorithms and tailored implementations. This challenge is even greater when…

We consider funnel control for linear infinite-dimensional systems that are impedance passive, meaning that they satisfy an energy balance in which the stored energy equals the squared norm of the state and the supplied power is the inner…

This paper deals with the problem of trajectory tracking of a class of bilinear systems with time--varying measurable disturbance. A set of matrices {A,B_i} has been identified, via a linear matrix inequality, for which it is possible to…

We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…

This project investigates the approximate controllability of a class of stochastic integrodifferential equations in Hilbert space with non-local beginning conditions. In a departure from the conventional concerns expressed in the…

In this study, we consider the experimentally-obtained, periodically-forced response of a nonlinear structure in the presence of process noise. Control-based continuation is used to measure both the stable and unstable periodic solutions…

The growing scale and complexity of safety-critical control systems underscore the need to evolve current control architectures aiming for the unparalleled performances achievable through state-of-the-art optimization and machine learning…

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…

This paper is devoted to the development of adaptive control schemes for uncertain discrete-time systems, which guarantee robust, global, exponential convergence to the desired equilibrium point of the system. The proposed control scheme…

This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…

This paper studies the event-triggered cooperative global robust output regulation problem for a class of nonlinear multi-agent systems via a distributed internal model design. We show that our problem can be solved practically in the sense…

This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…

In this paper, we establish an iterative data-driven approach to derive guaranteed bounds on nonlinearity measures of unknown nonlinear systems. In this context, nonlinearity measures quantify the strength of the nonlinearity of a dynamical…