相关论文: Mu-synthesis PID Control of Full-Car with Parallel…

In this paper a novel hybrid position/force control with autonomous switching between both control modes is introduced for hydraulic actuators. A hybrid position/force control structure with feed-forwarding, full-state feedback, including…

Proportional-integral-derivative (PID) control is the most widely used in industrial control, robot control and other fields. However, traditional PID control is not competent when the system cannot be accurately modeled and the operating…

Motion systems are a vital part of many industrial processes. However, meeting the increasingly stringent demands of these systems, especially concerning precision and throughput, requires novel control design methods that can go beyond the…

Reliable spacecraft attitude control depends on accurate prediction of attitude dynamics, particularly when model-based strategies such as Model Predictive Control (MPC) are employed, where performance is limited by the quality of the…

Model Predictive Path Integral (MPPI) control is a widely used sampling-based approach for real-time control, valued for its flexibility in handling arbitrary dynamics and cost functions. However, it often suffers from high-frequency noise…

This paper applies the recently developed framework for integral control on nonlinear spaces to two non-standard cases. First, we show that the property of perfect target stabilization in presence of actuation bias holds also if this bias…

Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…

A novel self-organizing fuzzy proportional-integral-derivative (SOF-PID) control system is proposed in this paper. The proposed system consists of a pair of control and reference models, both of which are implemented by a first-order…

Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the…

This paper proposes a novel approach to motion planning and decision-making for automated vehicles, using a multi-modal Model Predictive Path Integral control algorithm. The method samples with Sobol sequences around the prior input and…

PID control architectures are widely used in industrial applications. Despite their low number of open parameters, tuning multiple, coupled PID controllers can become tedious in practice. In this paper, we extend PILCO, a model-based policy…

This paper proposes a novel approach to controller design for MR-damped vehicle suspension system. This approach is predicated on the premise that the optimal control strategy can be learned through real-world or simulated experiments…

The behavior of active matter under confinement poses significant challenges due to the intricate coupling between dynamics near boundaries and those in the bulk. A defining feature of active matter systems is that a substantial portion of…

The problem of the real-time multiple-input multiple-output (MIMO) array control when requirements on capacity performance, out-of-cell interference, and computational efficiency are simultaneously enforced is addressed by means of an…

Biological and advanced cyberphysical control systems often have limited, sparse, uncertain, and distributed communication and computing in addition to sensing and actuation. Fortunately, the corresponding plants and performance…

Although extensive research in emergency collision avoidance has been carried out for straight or curved roads in a highway scenario, a general method that could be implemented for all road environments has not been thoroughly explored.…

In this paper, a controller design targeting the remotely operated hydraulic drive system is presented. A two-degrees-of-freedom PID position controller is used, which is designed so that to maximize the integral action under robust…

This paper presents the analytic modeling of mobile heavy-duty manipulators with actively articulated suspension and its optimal control to maximize its static and dynamic stabilization. By adopting the screw theory formalism, we consider…

We report on the realization of delivering coherent optical frequency to multiple places based on passive phase noise cancellation over a bus topology fiber network. This technique mitigates any active servo controller on the main fiber…

A typical VLSI design flow is divided into separated front-end logic synthesis and back-end physical design (PD) stages, which often require costly iterations between these stages to achieve design closure. Existing approaches face…