相关论文: An Adaptive Reaction Force Observer Design

With the rapid growth of autonomous vehicle technologies, effective path-tracking control has become a critical component in ensuring safety and efficiency in complex traffic scenarios. When a high level decision making agent generates a…

This thesis is concerned with the rejection of time-varying disturbances in linear model predictive control of discrete-time systems. In the literature, disturbances are widely rejected by using velocity models, disturbance model with…

Frequency control (FC) enables utility-scale grid-connected hybrid power plants (HPPs) to operate in compliance with grid code requirements while to capture value streams from provision of frequency control services (FCSs). In this paper, a…

Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…

Adaptive control is often used for friction compensation in trajectory tracking tasks because it does not require torque sensors. However, it has some drawbacks: first, the most common certainty-equivalence adaptive control design is based…

A crucial challenge in engineering modern, integrated systems is to produce robust designs. Ensuring robust design is difficult because subsystem couplings produce unpredictable response to changes in whole system specifications. Here, we…

Adversarial training (AT) with projected gradient descent is the most popular method to improve model robustness under adversarial attacks. However, computational overheads become prohibitively large when AT is applied to large backbone…

This paper proposes a new fraction-order active disturbance rejection controller based on an improved fraction-order extended state observer (IFESO) for a class of fraction-order systems. Applying the IFESO, the fraction-order system can be…

In safety-critical control, managing safety constraints with high relative degrees and uncertain obstacle dynamics pose significant challenges in guaranteeing safety performance. Robust Control Barrier Functions (RCBFs) offer a potential…

Despite decades of research and recent progress in adaptive control and reinforcement learning, there remains a fundamental lack of understanding in designing controllers that provide robustness to inherent non-asymptotic uncertainties…

Onboard visual sensing has been widely used in the unmanned ground vehicle (UGV) and/or unmanned aerial vehicle (UAV), which can be modeled as dynamic systems on SE(3). The onboard sensing outputs of the dynamic system can usually be…

Two-inertia systems are prone to resonance vibrations that degrade their control performances. These unwanted vibrations can be effectively suppressed by control methods based on a disturbance observer (DOB). Vibration suppression control…

In this paper we consider trajectory tracking problem for robotic systems affected by unknown external perturbations. Considering possible solutions, we restrict our attention to composite adaptation, which, particularly, ensures parametric…

We present a novel methodology for designing output-feedback backstepping boundary controllers for an unstable 1-D diffusion-reaction partial differential equation with spatially-varying reaction. Using "folding" transforms the parabolic…

This paper addresses the challenge of ensuring safety in stochastic control systems with high-relative-degree constraints, while maintaining feasibility and mitigating conservatism in risk evaluation. Control Barrier Functions (CBFs)…

In this paper, a compressor system is analyzed in order to show its characteristics and design a control scheme to improve its efficiency. A mathematical technique has been created to forecast the onset of surge and instability in a…

The ever increasing penetration of Renewable Energy Resources (RESs) in power distribution networks has brought, among others, the challenge of maintaining the grid voltages within the secure region. Employing droop voltage regulators on…

Reservoir observers provide a data-driven approach to the inference of unmeasured variables from observed ones for nonlinear dynamical systems. While previous studies have demonstrated wide applicability, their performance may vary…

In this work, the joint-control strategy is presented for the humanoid robot, PANDORA, whose structural components are designed to be compliant. As opposed to contemporary approaches which design the elasticity internal to the actuator…

This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying…