相关论文: Barrier Function-Based Adaptive Continuous Higher-…
Control barrier functions (CBFs) are a powerful tool for the constrained control of nonlinear systems; however, the majority of results in the literature focus on systems subject to a single CBF constraint, making it challenging to…
In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive…
In this paper a novel discrete-time realization of the super-twisting controller is proposed. The closed-loop system is proven to converge to an invariant set around the origin in finite time. Furthermore, the steady-state error is shown to…
In this paper an artificial delay based impedance controller is proposed for robotic manipulators with uncertainty in dynamics. The control law unites the time delayed estimation (TDE) framework with a second order switching controller of…
Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as hardware degradation, changing weather patterns, or…
Formation control of multiple groups of agents finds application in large area navigation by generating different geometric patterns and shapes, and also in carrying large objects. In this paper, Centroid Based Transformation (CBT)…
This paper proposes a novel fixed-time integral sliding mode controller for admittance control to enhance physical human-robot collaboration. The proposed method combines the benefits of compliance to external forces of admittance control…
This paper solves the problem of regulating the rotor speed tracking error for wind turbines in the full-load region by an effective robust-adaptive control strategy. The developed controller compensates for the uncertainty in the control…
Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional…
In this work, we explore the application of barrier states (BaS) in the realm of safe nonlinear adaptive control. Our proposed framework derives barrier states for systems with parametric uncertainty, which are augmented into the uncertain…
In the last decades, control problems with infinite horizons and discount factors have become increasingly central not only for economics but also for applications in artificial intelligence and machine learning. The strong links between…
Tractable safety-ensuring algorithms for cyber-physical systems are important in critical applications. Approaches based on Control Barrier Functions assume continuous enforcement, which is not possible in an online fashion. This paper…
Hybrid dynamical systems are ubiquitous as practical robotic applications often involve both continuous states and discrete switchings. Safety is a primary concern for hybrid robotic systems. Existing safety-critical control approaches for…
This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a strict-feedback structure with unknown parameters entering both…
This work develops a robust adaptive control strategy for discrete-time systems using Control Barrier Functions (CBFs) to ensure safety under parametric model uncertainty and disturbances. A key contribution of this work is establishing a…
This paper is concerned with mismatched disturbance rejection control for the second-order discrete-time systems.Different from previous work, the controllability of the system is applied to design the disturbance compensation gain, which…
In this paper, we address the robustness of parabolic-elliptic systems under boundary control. A sliding mode control strategy is proposed to reject matched perturbations. The stability analysis establishes finite-time convergence of the…
This paper studies the problem of enforcing safety of a stochastic dynamical system over a finite-time horizon. We use stochastic control barrier functions as a means to quantify the probability that a system exits a given safe region of…
In this paper we study the bounded perturbation resilience of the extragradient and the subgradient extragradient methods for solving variational inequality (VI) problem in real Hilbert spaces. This is an important property of algorithms…
This note presents an extension to the adaptive control strategy presented in [1] able to counter eventual instability due to disturbances at the input of an otherwise $\mathcal{L}_2$ stable closed-loop system. These disturbances are due to…