相关论文: Non-Linear Dynamic Inversion with Actuator Dynamic…

In order to obviate the requirement of drift dynamics in adaptive dynamic programming (ADP), integral reinforcement learning (IRL) has been proposed as an alternate formulation of Bellman equation.However control coupling dynamics is still…

A novel control design approach for general nonlinear systems is presented in this paper. The approach is based on the identification of a polynomial model of the system to control and on the on-line inversion of this model. An efficient…

Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…

The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted…

This paper proposes a nonlinear optimal guidance law that enables a pursuer to enclose a target within arbitrary geometric patterns, which extends beyond conventional circular encirclement. The design operates using only relative state…

This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…

We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…

Recent years have witnessed the rapid advancement of understanding the control mechanism of networked dynamical systems (NDSs), which are governed by components such as nodal dynamics and topology. This paper reveals that the critical…

In this paper we introduce a new method to design control laws for non-linear underactuated systems. Our method produces an infinite dimensional family of control laws, whereas most control techniques only produce a finite dimensional…

This paper investigates control laws allowing mobile, autonomous agents to optimally position themselves on the line for distributed sensing in a nonuniform field. We show that a simple static control law, based only on local measurements…

Volt/VAR control rules facilitate the autonomous operation of distributed energy resources (DER) to regulate voltage in power distribution grids. According to non-incremental control rules, such as the one mandated by the IEEE Standard…

This paper presents a comprehensive approach to nonlinear dynamics identification for UAVs using a combination of data-driven techniques and theoretical modeling. Two key methodologies are explored: Proportional-Derivative (PD)…

This paper presents the design of a nonlinear control law for a typical electromagnetic actuator system. Electromagnetic actuators are widely implemented in industrial applications, and especially as linear positioning system. In this work,…

The work considers the design of an indirect adaptive controller for a satellite equipped with a robotic arm manipulating an object. Uncertainty on the manipulated object can considerably impact the overall behavior of the system. In…

This note examines the robustness properties of the nonlinear PI control method to ignored actuator dynamics. It is proven that global boundedness and regulation can be achieved for sector bounded nonlinear systems with unknown control…

This paper presents a generalizable methodology for data-driven identification of nonlinear dynamics that bounds the model error in terms of the prediction horizon and the magnitude of the derivatives of the system states. Using…

The fundamental lemma from behavioral systems theory yields a data-driven non-parametric system representation that has shown great potential for the data-efficient control of unknown linear and weakly nonlinear systems, even in the…

In this document, a nonlinear control law for a grid-tied converter is introduced. The converter topology consists of a voltage source inverter (VSI) linked to the grid through an inductive-capacitive second-order filter, its input being…

The application of nonlinear control schemes to electro-hydraulic actuators often requires several alterations in the design of the controllers during their implementation. This is to overcome challenges that frequently arise in such…

This paper introduces the Deep Learning-based Nonlinear Model Predictive Controller with Scene Dynamics (DL-NMPC-SD) method for autonomous navigation. DL-NMPC-SD uses an a-priori nominal vehicle model in combination with a scene dynamics…