相关论文: Tuning of CgLp based reset controllers: Applicatio…

Central Pattern Generators (CPGs) have several properties desirable for locomotion: they generate smooth trajectories, are robust to perturbations and are simple to implement. Although conceptually promising, we argue that the full…

Control Co-Design (CCD) considers the coupled effects of both the plant and control parameters to optimize a system's closed-loop transient performance during the design stage. This paper presents a new method for CCD with guarantees on…

In this paper a novel reset control synthesis method is proposed: CRONE reset control, combining a robust fractional CRONE controller with non-linear reset control to overcome waterbed effect. In CRONE control, robustness is achieved by…

In chemical process applications, model predictive control effectively deals with input and state constraints during transient operations. However, industrial PID controllers directly manipulates the actuators, so they play the key role in…

This paper presents a novel nonlinear (reset) disturbance observer for dynamic compensation of bounded nonlinearities like hysteresis in piezoelectric actuators. Proposed Resetting Disturbance Observer (RDOB) utilizes a novel Constant-gain…

In this study, a distinct reconfigurable fault-tolerant flight control strategy is addressed for mitigating one of the persistent safety-critical issue, i.e. loss of control triggered by actuator faults. The attainable acceleration set…

PID control has been the dominant control strategy in the process industry due to its simplicity in design and effectiveness in controlling a wide range of processes. However, traditional methods on PID tuning often require extensive domain…

Composite adaptive control (CAC) that integrates direct and indirect adaptive control techniques can achieve smaller tracking errors and faster parameter convergence compared with direct and indirect adaptive control techniques. However,…

This paper proposes a composite learning backstepping control (CLBC) strategy based on modular backstepping and high-order tuners to achieve closed-loop exponential stability without high-gain feedback and PE. A novel composite learning…

Robotic force-based compliance control is a preferred approach to achieve high-precision assembly tasks. When the geometric features of assembly objects are asymmetric or irregular, reinforcement learning (RL) agents are gradually…

Reset control is introduced to overcome limitations of linear control. A reset controller includes a linear controller which resets some of states to zero when their input is zero or certain non-zero values. This paper studies the…

As the share of renewable generation in large power systems continues to increase, the operation of power systems becomes increasingly challenging. The constantly shifting mix of renewable and conventional generation leads to largely…

The high tech industry which requires fast stable motion with nanometer precision continues to mainly use PID which is limited by fundamental linear control limitations. Floor vibrations as disturbance significantly affect performance and…

Learning-based control methods utilize run-time data from the underlying process to improve the controller performance under model mismatch and unmodeled disturbances. This is beneficial for optimizing industrial processes, where the…

This work presents a solution to the adaptive tracking control of Euler Lagrange systems with guaranteed tracking and parameter estimation error convergence. Specifically a concurrent learning based update rule fused by the filtered version…

We demonstrate that time-delayed feedback control can be improved by adaptively tuning the feedback gain. This adaptive controller is applied to the stabilization of an unstable fixed point and an unstable periodic orbit embedded in a…

This paper presents a novel model predictive control (MPC) formulation for set-point tracking. Stabilizing predictive controllers based on terminal ingredients may exhibit stability and feasibility issues in the event of a reference change…

A key factor that generates significant interest in reset control systems, especially within industrial contexts, is their potential to be designed using a frequency-domain loop-shaping procedure. On the other hand, formulating and…

Including local automatic gain control (AGC) circuitry into a silicon cochlea design has been challenging because of transistor mismatch and model complexity. To address this, we present an alternative system-level algorithm that implements…

This paper presents a novel adaptive feedforward controller design for reset control systems. The combination of feedforward and reset feedback control promises high performance as the feedforward guarantees reference tracking, while the…