相关论文: A Constructive Method for Designing Safe Multirate…

When designing controllers for safety-critical systems, practitioners often face a challenging tradeoff between robustness and performance. While robust control methods provide rigorous guarantees on system stability under certain…

Safety in dynamic systems with prevalent uncertainties is crucial. Current robust safe controllers, designed primarily for uni-modal uncertainties, may be either overly conservative or unsafe when handling multi-modal uncertainties. To…

Incremental stability is a property of dynamical and control systems, requiring the uniform asymptotic stability of every trajectory, rather than that of an equilibrium point or a particular time-varying trajectory. Similarly to stability,…

This paper investigates the synthesis of robust controllers from logical specification of regular properties given in an interval temporal logic QDDC. Our specification encompasses both hard robustness and soft robustness. Here, hard…

This paper considers the problem of designing a continuous-time dynamical system that solves a constrained nonlinear optimization problem and makes the feasible set forward invariant and asymptotically stable. The invariance of the feasible…

The current limitation in the synthesis of distributed $\mathscr{H}_2$ controllers for linear interconnected systems is scalability due to non-convex or unstructured synthesis conditions. In this paper we develop convex and structured…

Complex real-world applications of cyber-physical systems give rise to the need for multi-objective controller synthesis, which concerns the problem of computing an optimal controller subject to multiple (possibly conflicting) criteria. The…

Ensuring both performance and safety is critical for autonomous systems operating in real-world environments. While safety filters such as Control Barrier Functions (CBFs) enforce constraints by modifying nominal controllers in real time,…

In recent years, formal methods have been extensively used in the design of autonomous systems. By employing mathematically rigorous techniques, formal methods can provide fully automated reasoning processes with provable safety guarantees…

This paper describes the design process for developing a nonlinear model predictive controller for fault tolerant flight control. After examining and implementing a number of numerical techniques, this paper identifies pseudospectral…

Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…

We propose a robust model predictive control (MPC) method for discrete-time linear systems with polytopic model uncertainty and additive disturbances. Optimizing over linear time-varying (LTV) state feedback controllers has been…

Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, it remains challenging due to complex nonlinearities, oscillations, and direction-dependent,…

This paper considers the optimization landscape of linear dynamic output feedback control with $\mathcal{H}_\infty$ robustness constraints. We consider the feasible set of all the stabilizing full-order dynamical controllers that satisfy an…

So far, many control algorithms have been developed for singularly perturbed systems. However, in many industrial processes, enforcing closed-loop fast-slow dynamics for peculiarly non-separable ones is a prior request and a crucial issue…

The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of…

In this paper, we investigate the problem of unified prescribed performance tracking for a class of non-square strict-feedback nonlinear systems under relaxed controllability conditions. By using a skillful matrix decomposition and…

We study the constrained linear quadratic regulator with unknown dynamics, addressing the tension between safety and exploration in data-driven control techniques. We present a framework which allows for system identification through…

We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…

This paper presents a scheme to design a tracking controller for a class of uncertain nonlinear systems using a robust feedback linearization approach. The scheme is composed of two steps. In the first step, a linearized uncertainty model…