相关论文: Event-Triggered Active Disturbance Rejection Contr…
We study how to safely control nonlinear control-affine systems that are corrupted with bounded non-stochastic noise, i.e., noise that is unknown a priori and that is not necessarily governed by a stochastic model. We focus on safety…
This paper considers a disturbance attenuation problem for a linear discrete time invariant system under random disturbances with imprecisely known probability distributions. The statistical uncertainty is measured in terms of relative…
Event-triggered control strategy is capable of significantly reducing the number of control task executions without sacrificing control performance. In this paper, we propose a novel learning-based approach towards an event-triggered model…
Event-triggered model predictive control (eMPC) is a popular optimal control method with an aim to alleviate the computation and/or communication burden of MPC. However, it generally requires priori knowledge of the closed-loop system…
This paper proposes an event-triggered polynomial control method for trajectory tracking by unicycle robots. In this method, each control input between two consecutive events is a polynomial and its coefficients are chosen to minimize the…
Since the classical proportional-integral-derivative (PID) controller has continued to be the most widely used feedback methods in engineering systems by far, it is crucial to investigate the working mechanism of PID in dealing with…
We address the problem of robust state estimation of a class of discrete-time nonlinear systems with positive-slope nonlinearities when the sensors are corrupted by (potentially unbounded) attack signals and bounded measurement noise. We…
This note studies stability of event-triggered control systems with the event-triggered control algorithm proposed in [1]. We construct a novel Halanay-type inequality, which is used to show that sufficient conditions of the main results in…
To foster the adoption of active disturbance rejection control (ADRC) and support its deployment even on low-cost embedded systems, this article introduces the most efficient implementation of linear discrete-time ADRC to date. While…
In this paper, a heterogeneous leader-followers multiagent system is studied under simultaneous time-varying communication faults and actuator faults. First, the state of the leader is modelled as the closed-loop reference model where the…
This paper proposes an event-triggered control scheme for multivariable extremum seeking of static maps. Both static and dynamic triggering conditions are developed. Integrating Lyapunov and averaging theories for discontinuous systems, a…
We consider robust control synthesis for linear systems with complex specifications that are affected by uncertain disturbances. This work is motivated by autonomous systems interacting with partially known, time-varying environments. Given…
In this note, we develop an adaptive observer for a class of nonlinear systems with switched unknown parameters to estimate the states and parameters simultaneously. The main challenge lies in how to eliminate the disturbance effect of…
Asymptotic disturbance rejection (equivalently tracking) for nonlinear systems has been studied only in qualitative terms (the state is asymptotically stable under bounded disturbances). We show how to prove quantitative performance…
We present an event-triggered control strategy for stabilizing a scalar, continuous-time, time-invariant, linear system over a digital communication channel having bounded delay, and in the presence of bounded system disturbance. We propose…
We propose an open-loop and a closed-loop stochastic event-triggered sensor schedule for remote state estimation. Both schedules overcome the essential difficulties of existing schedules in recent literature works where, through introducing…
Event-triggered control (ETC) methods can achieve high-performance control with a significantly lower number of samples compared to usual, time-triggered methods. These frameworks are often based on a mathematical model of the system and…
This paper studies the consensus problem of multi-agent systems with asymmetric and reducible topologies. Centralized event-triggered rules are provided so as to reduce the frequency of system's updating. The diffusion coupling feedbacks of…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
In this paper we consider trajectory tracking problem for robotic systems affected by unknown external perturbations. Considering possible solutions, we restrict our attention to composite adaptation, which, particularly, ensures parametric…