相关论文: Frequency Domain Auto-tuning of Structured LPV Con…

Model predictive Path-Following Control (MPFC) is a viable option for motion systems in many application domains. However, despite considerable progress on tailored numerical methods for predictive control, the real-time implementation of…

We consider the problem of synthesizing optimal linear feedback policies subject to arbitrary convex constraints on the feedback matrix. This is known to be a hard problem in the usual formulations ($\Htwo,\Hinf,\LQR$) and previous works…

We consider the problem of designing a feedback controller which robustly regulates an LTI system to an optimal operating point in the presence of unmeasured disturbances. A general design framework based on so-called optimality models was…

Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…

Current model-free adaptive control (MFAC) can hardly deal with the time delay problem in multiple-input multiple-output (MIMO) systems. To solve this problem, a novel model-free adaptive predictive control (MFAPC) method is proposed.…

By means of the linear parameter-varying (LPV) Fundamental Lemma, we derive novel data-driven predictive control (DPC) methods for LPV systems. In particular, we present output-feedback and state-feedback-based LPV-DPC methods with terminal…

In this paper, we consider controlling a class of single-input-single-output (SISO) commensurate fractional-order nonlinear systems with parametric uncertainty and external disturbance. Based on backstepping approach, an adaptive controller…

Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…

Comparing with traditional fixed formation for a group of dynamical systems, time-varying formation can produce the following benefits: i) covering the greater part of complex environments; ii) collision avoidance. This paper studies the…

Robust Model Predictive Control (MPC) for nonlinear systems is a problem that poses significant challenges as highlighted by the diversity of approaches proposed in the last decades. Often compromises with respect to computational load,…

For motion planning and control of autonomous vehicles to be proactive and safe, pedestrians' and other road users' motions must be considered. In this paper, we present a vehicle motion planning and control framework, based on Model…

This paper deals with traffic control at motorway bottlenecks assuming the existence of an unknown, time-varying, Fundamental Diagram (FD). The FD may change over time due to different traffic compositions, e.g., light and heavy vehicles,…

Adaptive fuzzy control strategies are established to achieve global prescribed performance with prescribed-time convergence for strict-feedback systems with mismatched uncertainties and unknown nonlinearities. Firstly, to quantify the…

Decision-making and motion planning constitute critical components for ensuring the safety and efficiency of autonomous vehicles (AVs). Existing methodologies typically adopt two paradigms: decision then planning or generation then scoring.…

This paper develops a predictive modeling algorithm, denoted as Real-Time Vector Fitting (RTVF), which is capable of approximating the real-time linearized dynamics of multi-input multi-output (MIMO) dynamical systems via rational transfer…

This paper presents a multirotor control architecture, where Model Predictive Path Integral Control (MPPI) and L1 adaptive control are combined to achieve both fast model predictive trajectory planning and robust trajectory tracking. MPPI…

This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…

Mobile manipulators typically encounter significant challenges in navigating narrow, cluttered environments due to their high-dimensional state spaces and complex kinematics. While reactive methods excel in dynamic settings, they struggle…

Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…

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…