相关论文: Passive iFIR Filters for Data-Driven Control

PID control architectures are widely used in industrial applications. Despite their low number of open parameters, tuning multiple, coupled PID controllers can become tedious in practice. In this paper, we extend PILCO, a model-based policy…

Soft-reset controllers are introduced as a way to approximate hard-reset controllers. The focus is on implementing reset controllers that are (strictly) passive and on analyzing their interconnection with passive plants. A passive…

We present a novel approach to control design for nonlinear systems which leverages model-free policy optimization techniques to learn a linearizing controller for a physical plant with unknown dynamics. Feedback linearization is a…

In this paper, a nonlinear rotational inverted pendulum with time-varying parameters is controlled using the indirect adaptive fuzzy controller design. This type of controller is chosen because this particular system performance is highly…

In this report, we introduce a comprehensive design framework for Event-Triggered Networked Control Systems based on the passivity-based concept of Input Feed-Forward Output Feedback Passive (IF-OFP) systems. Our approach is comprehensive…

Resonant controllers are widely used in applications involving reference tracking and disturbance rejection of periodic signals. The controller design is typically performed by a trial-and-error approach or by means of time and…

Implementation of learning-based control remains challenging due to the absence of safety guarantees. Safe control methods have turned to model-based safety filters to address these challenges, but this is paradoxical when the ultimate goal…

We propose and demonstrate a nonlinear control method that can be applied to unknown, complex systems where the controller is based on a type of artificial neural network known as a reservoir computer. In contrast to many modern…

Security issues have gathered growing interest within the control systems community, as physical components and communication networks are increasingly vulnerable to cyber attacks. In this context, recent literature has studied increasingly…

Navigation problems under unknown varying conditions are among the most important and well-studied problems in the control field. Classic model-based adaptive control methods can be applied only when a convenient model of the plant or…

Many active noise and vibration control systems require models of the control paths. When the controlled system changes slightly over time, adaptive digital filters for the identification of the models are useful. This paper aims at the…

In this paper, a data-driven approach is developed for controller design for a class of discrete-time large-scale systems, where a large-scale system can be expressed in an equivalent data-driven form and the decentralized controllers can…

One-shot direct model-reference control design techniques, like the Virtual Reference Feedback Tuning (VRFT) approach, offer time-saving solutions for the calibration of fixed-structure controllers for dynamic systems. Nonetheless, such…

Post-processing techniques have been shown to improve the quality of the decision stream generated by classifiers used in pattern-recognition-based myoelectric control. However, these techniques have largely been tested individually and on…

We present three dynamic error feedback controllers for robust output regulation of regular linear systems. These controllers are (i) a minimal order robust controller for exponentially stable systems (ii) an observer-based robust…

Flow-improving devices (FIDs) are used the most effectively for the reduction of noise and vibration induced by a propulsor. These devices may also increase the efficiency of a propulsor and in some cases should be considered and designed…

This study presents a non-iterative tuning technique for a linear fractional-order (FO) controller, based on the integral of the time-weighted absolute error (ITAE) criterion. Minimizing the ITAE is a traditional approach for tuning FO…

In this paper, the D2-IBC (Data-Driven Inversion Based Control) approach for nonlinear control is introduced and analyzed. The method does not require any a-priori knowledge of the system dynamics and relies on a two degrees of freedom…

This note aims to provide a systematic investigation of direct data-driven control, enriching the existing literature not by adding another isolated result, but rather by offering a unifying, versatile, and broad framework that enables the…

We show that designing sparse $H_\infty$ controllers, in a discrete (LTI) setting, is easy when the controller is assumed to be an FIR filter. In this case, the problem reduces to a static output feedback problem with equality constraints.…