相关论文: A novel method for adaptive control of deformable …

This paper presents a safe delay-adaptive control for a strict-feedback nonlinear ODE with a delayed actuator, whose dynamic is also a strict-feedback nonlinear ODE and the delay length is unknown. By formulating the delay as a transport…

We report on low temperature measurements performed on micro-electro-mechanical systems (MEMS) driven deeply into the non-linear regime. The materials are kept in their elastic domain, while the observed non-linearity is purely of…

Current model-free adaptive control (MFAC) method has no been analysed in linear system and is not straightforward for the practical engineers to understand accurately. This correspondence presents a family of MFAC based on a modified…

This paper concerns the adaptive control problem for a class of nonlinear stochastic systems in which the state update is given by a nonlinear function of linear dynamics plus additive stochastic noise. Such systems arise in a wide range of…

Feedback optimization is a control paradigm that enables physical systems to autonomously reach efficient operating points. Its central idea is to interconnect optimization iterations in closed-loop with the physical plant. Since iterative…

The Dynamic-Mode Decomposition (DMD) is a well established data-driven method of finding temporally evolving linear-mode decompositions of nonlinear time series. Traditionally, this method presumes that all relevant dimensions are sampled…

The coupled problems of selecting control nodes and designing control actions for nonlinear network dynamics are fundamental scientific problems with applications in many diverse fields. These problems are thoroughly studied for linear…

This paper presents a subsystem-based adaptive control framework for serial flexible manipulators with an arbitrary number of links, in which the elastic deformation PDE of each link is carried through the entire control design without…

MagAO-X is the extreme coronagraphic adaptive optics (AO) instrument for the 6.5-meter Magellan Clay telescope and is currently undergoing a comprehensive batch of upgrades. One innovation that the instrument features is a deformable mirror…

A disturbance-aware predictive control policy is proposed for DC-AC power inverters with the receding horizon optimization approach. First, a discrete event-driven hybrid automaton model has been constructed for the nonlinear inverter…

Reconfigurable optics, optical systems that have a dynamically tunable configuration, are emerging as a new frontier in photonics research. Recently, twisted moir\'e photonic crystal has become a competitive candidate for implementing…

Predicting the response of an observed system to a known input is a fruitful first step to accurately control the system's dynamics. Despite the recent advances in fully data-driven algorithms, the most interpretable way to reach this goal…

Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…

Periodic control systems used in spacecrafts and automotives are usually period-driven and can be decomposed into different modes with each mode representing a system state observed from outside. Such systems may also involve intensive…

We propose a new method for computing Dynamic Mode Decomposition (DMD) evolution matrices, which we use to analyze dynamical systems. Unlike the majority of existing methods, our approach is based on a variational formulation consisting of…

In this paper, a novel adaptive smooth disturbance observer-based fast finite-time adaptive backstepping control scheme is presented for the attitude tracking of the 3-DOF helicopter system subject to compound disturbances. First, an…

This article provides an overview of model predictive control (MPC) frameworks for dynamic operation of nonlinear constrained systems. Dynamic operation is often an integral part of the control objective, ranging from tracking of reference…

In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…

This study presents a novel, continuous finite-time control strategy for a class of nonlinear systems subject to matched uncertainties with unknown bounds. We propose an Adaptive Disturbance Observer-based Full-order Integral-Terminal…

In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed…