相关论文: Nonlinear disturbance attenuation control of hydra…

Robust finite-time feedback controller introduced for the second-order systems in [1] can be seen as a non-overshooting quasi-continuous sliding mode control. The paper proposes a regularization scheme to suppress inherent chattering due to…

We study synchronization of nonlinear systems that satisfy an incremental passivity property. We consider the case where the control input is subject to a class of disturbances, including constant and sinusoidal disturbances with unknown…

We consider the problem of controlling an unknown linear dynamical system in the presence of (nonstochastic) adversarial perturbations and adversarial convex loss functions. In contrast to classical control, the a priori determination of an…

We consider the problem of designing control protocols for nonlinear network systems affected by heterogeneous, time-varying delays and disturbances. For these networks, the goal is to reject polynomial disturbances affecting the agents and…

An interlaced method to learn and control nonlinear system dynamics from a set of demonstrations is proposed, under a constrained optimization framework for the unsupervised learning process. The nonlinear system is modelled as a mixture of…

This paper presents a novel filter with low computational demand to address the problem of orientation estimation of a robotic platform. This is conventionally addressed by extended Kalman filtering of measurements from a sensor suit which…

An H infinity adaptive fuzzy control design is proposed in this paper for unknown nonlinear networked systems. The main issues of networked systems are addressed here, which are the system delay and loss of information. In fact, the…

Most of the literature focuses on the development of the linear active noise control (ANC) techniques. However, ANC systems might have to deal with some nonlinear components and the performance of linear ANC techniques may degrade in this…

Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…

We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…

We consider a kinematic model of a wheeled mobile robot controlled by translational and angular velocities. For this class of nonholonomic systems, a family of time-varying feedback controllers was proposed in our previous works using…

Measurement and feedback control of stochastic dynamics has been actively studied for not only stabilizing the system but also for generating additional entropy flows originating in the information flow in the feedback controller. In…

A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…

This paper proposes a new algorithm for compensating external disturbances for class of multi-channel linear systems. The solution to this problem is based on the use of the internal model principle and the extended error adaptation…

We generalize a method of control of chaos which uses delayed feedback at the period of an unstable orbit to stabilize that orbit. The generalization consists of substituting some portion of the nonlinear dynamical system with a delayed…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

We propose reaching steps towards the real-time strain control of multiphysics, multiscale continuum soft robots. To study this problem fundamentally, we ground ourselves in a model-based control setting enabled by mathematically precise…

This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…

This paper describes a robust linear time-invariant output-feedback control strategy to reduce turbulent fluctuations, and therefore skin-friction drag, in wall-bounded turbulent fluid flows, that nonetheless gives performance guarantees in…

We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a…