相关论文: An Adaptive Reaction Force Observer Design

A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…

This paper presents a novel control structure and control synthesis method for regulating the output voltage/frequency and power injection of DC-AC inverters. The traditional droop method offers attractive solution to achieve compromise…

Control Barrier Function (CBF) is an emerging method that guarantees safety in path planning problems by generating a control command to ensure the forward invariance of a safety set. Most of the developments up to date assume availability…

This paper develops a new model reference adaptive control (MRAC) framework using partial-state feedback for solving a multivariable adaptive output tracking problem. The developed MRAC scheme has full capability to deal with plant…

A nonlinear frequency response based adaptive vibration controller is proposed for a class of nonlinear mechanical systems. In order to obtain the nonlinear Frequency Response Function (FRF), the convergence properties of the system are…

In practical applications, the efficacy of a control algorithm relies critically on the accurate knowledge of the parameters and states of the underlying system. However, obtaining these quantities in practice is often challenging. Adaptive…

Safety in dynamic systems with prevalent uncertainties is crucial. Current robust safe controllers, designed primarily for uni-modal uncertainties, may be either overly conservative or unsafe when handling multi-modal uncertainties. To…

We consider low-order controller design for large-scale linear time-invariant dynamical systems with inputs and outputs. Model order reduction is a popular technique, but controllers designed for reduced-order models may result in unstable…

We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…

This note presents the design and analysis of an adaptive controller for a class of linear plants in the presence of output feedback. This controller makes use of a closed-loop reference model as an observer, and guarantees global stability…

The performance of deep models, including Vision Transformers, is known to be vulnerable to adversarial attacks. Many existing defenses against these attacks, such as adversarial training, rely on full-model fine-tuning to induce robustness…

This paper investigates the design and analysis of a novel grid-forming (GFM) control method for grid-connected converters (GCCs). The core novelty lies in a virtual flux observer-based synchronization and load angle control method. The…

The ability of animals to interact with complex dynamics is unmatched in robots. Especially important to the interaction performances is the online adaptation of body dynamics, which can be modeled as an impedance behaviour. However, the…

In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…

This paper describes the design of a robust controller for position control in systems with sandwiched backlash. The backlash, which is nonsmooth and nonlinear, is inevitable in the operation of many systems, but it can have destructive…

The design of safe-critical control algorithms for systems under Denial-of-Service (DoS) attacks on the system output is studied in this work. We aim to address scenarios where attack-mitigation approaches are not feasible, and the system…

Nonlinear robust control is pursued by overcoming the drawback of linear robust control that it ignores available information about existing nonlinearities and the resulting controllers may be too conservative, especially when the…

This paper proposes a multiple-model adaptive control methodology, using set-valued observers (MMAC-SVO) for the identification subsystem, that is able to provide robust stability and performance guarantees for the closed-loop, when the…

The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…

This work presents cost-effective low-rank techniques for designing robust adaptive beamforming (RAB) algorithms. The proposed algorithms are based on the exploitation of the cross-correlation between the array observation data and the…