相关论文: Linear matrix inequality based Type-III compensato…

This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…

In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…

This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…

Multi-degree-of-freedom (DOF) robotic manipulators exhibit strongly nonlinear, high-dimensional, and coupled dynamics, posing significant challenges for controller design. To address these issues, this work proposes a unified hybrid control…

AC/multi-terminal DC (MTDC) hybrid power systems have emerged as a solution for the large-scale and longdistance accommodation of power produced by renewable energy systems (RESs). To ensure the optimal operation of such hybrid power…

The synthesis problem of static output feedback controllers within the anistropic-norm setup is revisited. A tractable synthesis approach involving iterations over a convex optimization problem is suggested, similarly to existing results…

By employing a unified state-space design framework, this paper proposes a novel systematic analysis and synthesis method that facilitates the implementation of both conventional zero-order (ZO) and high-order (HO) DObs. Furthermore, this…

Lossless Convexification (LCvx) is a convexification technique that transforms a class of nonconvex optimal control problems$\unicode{x2013}$where the nonconvexity arises from a lower bound on the control norm$\unicode{x2013}$into…

In this work, we consider the problem of joint calibration and direction-of-arrival (DOA) estimation using sensor arrays. This joint estimation problem is referred to as self calibration. Unlike many previous iterative approaches, we…

In this paper, an optimal approach based on on-off controller is used to optimally control a DC-DC step-down converter. It is shown that the conventional controller techniques of DC-DC converters based on a linearized averaging model have…

This work proposes a new procedure for the stabilization of time-delay systems using Static Output Feedback (SOF) control. A previous convex optimization approach to SOF for Ordinary Differential Equations (ODEs) is extended to time-delay…

The problem of placing or selecting sensors and control nodes plays a pivotal role in the operation of dynamic networks. This paper proposes optimal algorithms and heuristics to solve the simultaneous sensor and actuator selection problem…

In inverse optimal control, the optimality of a given feedback stabilizing controller is a byproduct of the choice of a meaningful, a posteriori defined, cost functional. This allows for a simple tuning comparable to linear quadratic…

Efficiently estimating system dynamics from data is essential for minimizing data collection costs and improving model performance. This work addresses the challenge of designing future control inputs to maximize information gain, thereby…

Higher shares of electricity generation from renewable energy sources and market liberalization is increasing uncertainty in power systems operation. At the same time, operation is becoming more flexible with improved control systems and…

Magnetic levitation positioning technology has attracted considerable research efforts and dedicated attention due to its extremely attractive features. The technology offers high-precision, contactless, dust/lubricant-free, multi-axis, and…

A novel optimization method is proposed to minimize a convex function subject to bilinear matrix inequality (BMI) constraints. The key idea is to decompose the bilinear mapping as a difference between two positive semidefinite convex…

Bioprocesses are often characterised by nonlinear and uncertain dynamics, posing particular challenges for model predictive control (MPC) algorithms due to their computational demands when applied to nonlinear systems. Recent advances in…

We propose a combined global-local control approach to regulate voltage and minimize power losses in distribution networks with high integration of distributed energy resources (DERs). Local controllers embed the fast acting proportional…

We address modeling and control of a gate access automation system. A model of the mechatronic system is derived and identified. Then an approximate explicit feedback linearization scheme is proposed, which ensures almost linear response…