相关论文: Non-Linear Dynamic Inversion with Actuator Dynamic…
We present here the details of a backstepping transformation aiming at reformulating the dynamics of a nonlinear systems subject to unknown long input delay in a form which is suitable for Lyapunov stability analysis. The control law…
Aerial Manipulators (AMs) provide a versatile platform for various applications, including 3D printing, architecture, and aerial grasping missions. However, their operational speed is often sacrificed to uphold precision. Existing control…
This study presents incremental correction methods for refining neural network parameters or control functions entering into a continuous-time dynamic system to achieve improved solution accuracy in satisfying the interim point constraints…
A methodology is developed to learn a feedback linearization (i.e., nonlinear change of coordinates and input transformation) using a data-driven approach for a single input control-affine nonlinear system with unknown dynamics. We employ…
This paper examines the dynamics of power-electronic inverters in islanded microgrids that are controlled to emulate the dynamics of Van der Pol oscillators. The general strategy of controlling inverters to emulate the behavior of nonlinear…
In this paper, we present a data-driven output feedback controller for nonlinear systems that achieves practical output regulation, using noise-free input/output measurement data. The proposed controller is based on (i) an inverse model of…
Analog-to-digital conversion (ADC) and uncertainties in modeling the plant dynamics are the main sources of imprecisions in the design cycle of model-based controllers. These implementation and model uncertainties should be addressed in the…
This paper introduces a parameter adaptation-based control law for a class of nonlinear, control-affine, safety-critical systems subject to additive, parameter-affine model uncertainty. It is shown that the uncertainty is learned in…
In this work, we consider the numerical integration of the nonlinear Dirac equation and the Dirac-Poisson system (NDEs) under rough initial data. We propose a ultra low-regularity integrator (ULI) for solving the NDEs which enables optimal…
This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions---the second-order needle variations of optimal control---as the basis for choosing each control response to the current…
A widely embraced approach to mitigate the dynamic degradation in low-inertia power systems is to mimic generation response using grid-connected inverters to restore the grid's stiffness. In this paper, we seek to challenge this approach…
In this work, we propose a rigorous method for implementing predictor feedback controllers in nonlinear systems with unknown and arbitrarily long actuator delays. To address the analytically intractable nature of the predictor, we…
This paper considers real-time control and learning problems for finite-dimensional linear systems under binary-valued and randomly disturbed output observations. This has long been regarded as an open problem because the exact values of…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
The negative imaginary (NI) systems theory has attracted interests due to the robustness properties of feedback interconnected NI systems. However, a full output optimal controller-synthesis methodology, for such class of systems, is yet to…
This paper presents a new model-based algorithm that computes predictive optimal controls on-line and in closed loop for traditionally challenging nonlinear systems. Examples demonstrate the same algorithm controlling hybrid impulsive,…
The invariant manifold approach is used to explore the dynamics of a nonlinear rotor, by determining the nonlinear normal modes, constructing a reduced order model and evaluating its performance in the case of response to an initial…
Safety is critical in autonomous robotic systems. A safe control law ensures forward invariance of a safe set (a subset in the state space). It has been extensively studied regarding how to derive a safe control law with a control-affine…
Black-box AI induction methods such as deep reinforcement learning (DRL) are increasingly being used to find optimal policies for a given control task. Although policies represented using a black-box AI are capable of efficiently executing…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…