相关论文: Inversion-free feedforward hysteresis control usin…

The stabilizability of a general class of linear parabolic equations with a memory term, is achieve by explicit output feedback. The control input is given as a function of a state-estimate provided by an exponential dynamic Luenberger…

We develop a feedback control framework for stabilizing the McKean-Vlasov PDE on the torus. Our goal is to steer the dynamics toward a prescribed stationary distribution or accelerate convergence to it using a time-dependent control…

This paper proposes a novel hybrid control framework for switched linear parameter-varying (LPV) systems under hysteresis switching logic. By introducing a controller state-reset mechanism, the hybrid LPV synthesis problem is reformulated…

We develop a practical discrete model of hysteresis based on nonlinear play and generalized play, for use in first-order conservation laws with applications to adsorption-desorption hysteresis models. The model is easy to calibrate from…

Learning depends on changes in synaptic connections deep inside the brain. In multilayer networks, these changes are triggered by error signals fed back from the output, generally through a stepwise inversion of the feedforward processing…

In this paper, we investigate the controlled system described by forward-backward stochastic differential equations with the control contained in drift, diffusion and generator of BSDE. A new verification theorem is derived within the…

This paper deals with the backstepping design of observer-based compensators for parabolic ODE-PDE-ODE systems. The latter consist of n coupled parabolic PDEs with distinct diffusion coefficients and spatially-varying coefficients, that are…

Feedback is a general idea of modifying system behaviour depending on the measurement outcomes. It spreads from natural sciences, engineering, and artificial intelligence to contemporary classical and rock music. Recently, feedback has been…

Presented is an algorithm to synthesize the optimal infinite-horizon LQR feedback controller for continuous-time systems. The algorithm does not require knowledge of the system dynamics but instead uses only a finite-length sampling of…

We consider the robust control of a two-mass oscillator with a dominant input delay. Our aim is to compare a fractional-order tuning approach including the partial compensation of non-minimum phase zeros with a classical H-infinity…

Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based controllers often suffer from control chattering due to corrective…

The paper provides results for the application of boundary feedback control with Zero-Order-Hold (ZOH) to 1-D linear, first-order, hyperbolic systems with non-local terms on bounded domains. It is shown that the emulation design based on…

Practical design and tuning of feedback controllers has often to get by without a model of the dynamic process at hand. Only some general assumptions about the system dynamics, in this work type-one stable, can be available for engineers,…

We present a trajectory planning and control architecture for bipedal locomotion at a variety of speeds on a highly underactuated and compliant bipedal robot. A library of compliant walking trajectories are planned offline, and stored as…

This study proposes a feedback linearisation based on the back-stepping method with simple implementation and unique design process to design a non-linear controller with a goal of improving both steady-state and transient stability. The…

This paper presents a learning-based approach for impromptu trajectory tracking for non-minimum phase systems, i.e., systems with unstable inverse dynamics. Inversion-based feedforward approaches are commonly used for improving tracking…

The cancellation of high-frequency laser phase noise using feedforward techniques, as opposed to feedback methods, has achieved significant advancements in recent years. However, directly applying existing feedforward techniques to laser…

This paper proposes a prescribed performance function aware hybrid gain finite time sliding mode control framework for a class of nonlinear systems subject to matched disturbances. The hybrid gain structure ensures bounded control effort…

Model inversion is a fundamental technique in feedforward control. Unstable inverse models present a challenge in that useful feedforward control trajectories cannot be generated by directly propagating them. Stable inversion is a process…

By optimizing the predicted performance over a receding horizon, model predictive control (MPC) provides the ability to enforce state and control constraints. The present paper considers an extension of MPC for nonlinear systems that can be…