相关论文: Tuning of Constant in gain Lead in phase (CgLp) Re…

This paper studies the infinite-horizon adaptive optimal control of continuous-time linear periodic (CTLP) systems. A novel value iteration (VI) based off-policy ADP algorithm is proposed for a general class of CTLP systems, so that…

Entrainment of movement to a periodic stimulus is a characteristic intelligent behaviour in humans and an important goal for adaptive robotics. We demonstrate a quadruped central pattern generator (CPG), consisting of modified Matsuoka…

The precision motion industry has an ever-increasing demand for faster, more precise and more robust controllers. From the perspective of frequency domain and loopshaping technique, this demand has pushed the linear controllers to their…

This paper presents an estimator-based control framework for hybrid flying capacitor multilevel (FCML) converters, achieving high-bandwidth control and reduced computational complexity. Utilizing a hybrid estimation method that combines…

We present a complete top-down design of a low-power multi-channel clock recovery circuit based on gated current-controlled oscillators. The flow includes several tools and methods used to specify block constraints, to design and verify the…

This paper discusses a linear programming approach for designing switching signals for controlled rectifiers to achieve a low input current & output voltage total harmonic distortions. The focus here is on fully controlled rectifiers made…

In this paper we present a learning-based tracking controller based on Gaussian processes (GP) for a fault-tolerant hexarotor in a recovery maneuver. In particular, to estimate certain uncertainties that appear in a hexacopter vehicle with…

This paper focuses on sensor fault detection and compensation for robotic manipulators. The proposed method features a new adaptive observer and a new terminal sliding mode control law established on a second-order integral sliding surface.…

The LLRF of five of TRIUMF's ISAC-1 accelerator cavities have been replaced by 3 similar FPGA based system with different operating frequencies. These LLRF use internal digital phase locked loops for frequency generation and…

This paper considers the problem of adaptively overriding unsafe actions of a nominal controller in the presence of high-relative-degree nonovershooting constraints and parametric uncertainties. To prevent the design from being coupled with…

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…

In this paper, we address the issue of quantifying maximum actuator degradation in linear time-invariant dynamical systems. We present a new unified framework for computing the state-feedback controller gain that meets a user-defined…

The paper deals with the problem of output regulation of nonlinear systems by presenting a learning-based adaptive internal model-based design strategy. We borrow from the adaptive internal model design technique recently proposed in [1]…

This article presents a composite nonlinear feedback (CNF) control method using self-triggered (ST) adaptive dynamic programming (ADP) algorithm in a human-machine shared steering framework. For the overall system dynamics, a…

This paper introduces an effcient class of adaptive stencil extension reconstruction methods based on a discontinuity feedback factor, addressing the challenges of weak robustness and high computational cost in high-order schemes,…

Accurate learning of system dynamics is becoming increasingly crucial for advanced control and decision-making in engineering. However, real-world systems often exhibit multiple channels and highly nonlinear transition dynamics, challenging…

This paper contributes to the design of a fractional order (FO) internal model controller (IMC) for a first order plus time delay (FOPTD) process model to satisfy a given set of desired robustness specifications in terms of gain margin (Am)…

In this article, we investigate the global regulation problem for a class of feedforward nonlinear systems. Notably, the systems under consideration allow unknown input-output-dependent nonlinear growth rates, which has not been considered…

This paper proposes new methods for set-based state estimation and active fault diagnosis (AFD) of linear descriptor systems (LDS). Unlike intervals, ellipsoids, and zonotopes, constrained zonotopes (CZs) can directly incorporate linear…

Instruction tuning for large language models (LLMs) can drive them to produce results consistent with human goals in specific downstream tasks. However, the process of continual instruction tuning (CIT) for LLMs may bring about the…