相关论文: Is Linear Feedback on Smoothed Dynamics Sufficient…
Over the past decades, the Koopman operator has been widely applied in data-driven control, yet its theoretical foundations remain underexplored. This paper establishes a unified framework to address the robust stabilization problem in…
This article surveys the System Level Synthesis framework, which presents a novel perspective on constrained robust and optimal controller synthesis for linear systems. We show how SLS shifts the controller synthesis task from the design of…
Humans interact with an object in many different ways by making contact at different locations, creating a highly complex motion space that can be difficult to learn, particularly when synthesizing such human interactions in a controllable…
Frictional contact has been extensively studied as the core underlying behavior of legged locomotion and manipulation, and its nearly-discontinuous nature makes planning and control difficult even when an accurate model of the robot is…
The purpose of this paper is to present a theoretic and numerical study of utilizing squeezing and phase shift in coherent feedback control of linear quantum optical systems. A quadrature representation with built-in phase shifters is…
We show that given a desired closed-loop response for a system, there exists an affine subspace of controllers that achieve this response. By leveraging the existence of this subspace, we are able to separate controller design from…
Control laws for continuous-time dynamical systems are most often implemented via digital controllers using a sample-and-hold technique. Numerical discretization of the continuous system is an integral part of subsequent analysis. Feedback…
Intuitive control of synthesis processes is an ongoing challenge within the domain of auditory perception and cognition. Previous works on sound modelling combined with psychophysical tests have enabled our team to develop a synthesizer…
This paper investigates the dynamic properties of planar slider-pusher systems as a motion primitive in manipulation tasks. To that end, we construct a differential kinematic model deriving from the limit surface approach under the…
This paper presents a novel direct data-driven control framework for solving the linear quadratic regulator (LQR) under disturbances and noisy state measurements. The system dynamics are assumed unknown, and the LQR solution is learned…
Control systems of interest are often invariant under Lie groups of transformations. For such control systems, a geometric framework based on Lie symmetry is formulated, and from this a sufficient condition for dynamic feedback…
Control of wire-borne underactuated brachiating robots requires a robust feedback control design that can deal with dynamic uncertainties, actuator constraints and unmeasurable states. In this paper, we develop a robust feedback control for…
We propose a framework for synthesizing a feedback control policy that maximizes the region of attraction (ROA) of a closed-loop nonlinear dynamical system. Our synthesis technique relies on stochastic optimization, which involves…
Liquid films on moving substrates are used in dip-coating processes to form uniform protective layers. Controlling free-surface waves is essential due to the film's inherent linear instability. Therefore, we develop a linear feedback…
The principal task to control dynamical systems is to ensure their stability. When the system is unknown, robust approaches are promising since they aim to stabilize a large set of plausible systems simultaneously. We study linear…
We propose a stability analysis method for sampled-data switched linear systems with quantization. The available information to the controller is limited: the quantized state and switching signal at each sampling time. Switching between…
With the primary objective of human-robot interaction being to support humans' goals, there exists a need to formally synthesize robot controllers that can provide the desired service. Synthesis techniques have the benefit of providing…
In this paper, we provide a direct data-driven approach to synthesize safety controllers for unknown linear systems affected by unknown-but-bounded disturbances, in which identifying the unknown model is not required. First, we propose a…
Computing a stabilizing static output-feedback (SOF) controller is an NP-hard problem, in general. Yet, these controllers have amassed popularity in recent years because of their practical use in feedback control applications, such as fluid…
Feedback optimization enables autonomous optimality seeking of a dynamical system through its closed-loop interconnection with iterative optimization algorithms. Among various iteration structures, model-based approaches require the…