相关论文: Some control design experiments with HIFOO
In this work, a novel method for planar task and motion planning based on hybrid modeling is proposed. By virtue of a discrete variable which models local constraint satisfaction and enables local feasibility analysis, the proposed control…
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…
Cloud Computing is emerging as a new computational paradigm shift. Hadoop-MapReduce has become a powerful Computation Model for processing large data on distributed commodity hardware clusters such as Clouds. In all Hadoop implementations,…
The present paper provides a sufficient condition to ensure output finite-time and fixed-time stability. Comparing with analogous researches the proposed result is less restrictive and obtained for a wider class of systems. The presented…
This paper presents the design and analysis of a Hybrid High-Order (HHO) approximation for a distributed optimal control problem governed by the Poisson equation. We propose three distinct schemes to address unconstrained control problems…
A linear output feedback control scheme is developed for a coupled map lattice system. H-infinity control theory is used to make the scheme local: both the collection of information and the feedback are implemented through an array of…
We describe in this paper new design techniques used in the \cpp exact linear algebra library \linbox, intended to make the library safer and easier to use, while keeping it generic and efficient. First, we review the new simplified…
Hierarchical Instruction Following (HIF) refers to the problem of prompting large language models with a priority-ordered stack of instructions. Standard methods like RLHF and DPO typically fail in this problem since they mainly optimize…
In this paper, we present Lyapunov-based robust and adaptive controllers for the finite time stabilization of a perturbed chain of integrators with bounded uncertainties. The proposed controllers can be designed for integrator chains of any…
This paper presents a novel hybrid control protocol for de-conflicting multiple vehicles with constraints on control inputs. We consider turning rate and linear speed constraints to represent fixed-wing or car-like vehicles. A set of…
We present a suboptimal control design algorithm for a family of continuous-time parameter-dependent linear systems that are composed of interconnected subsystems. We are interested in designing the controller for each subsystem such that…
We study the problem of co-designing control barrier functions (CBF) and linear state feedback controllers for continuous-time linear systems. We achieve this by means of a single semi-definite optimization program. Our formulation can…
We present a MATLAB package called the Pha-sorArray Toolbox that has been developed to make harmonic analysis and control methods both practical and user-friendly. The toolbox adopts an object-oriented architecture that enables intuitive…
The paper considers the suboptimal H-infinity control problem for a general discrete-time system (whose transfer function matrix is allowed to be improper or polynomial). The parametrization of output feedback controllers is given in a…
This contribution develops an algebraic approach to obtain a controller form for a class of linear hyperbolic MIMO systems, bidirectionally coupled with a linear ODE system at the unactuated boundary. After a short summary of established…
Recent advancements in parallel simulation and successful robotic applications are spurring a resurgence in sampling-based model predictive control. To build on this progress, however, the robotics community needs common tooling for…
An H infinity adaptive fuzzy control design is proposed in this paper for unknown nonlinear networked systems. The main issues of networked systems are addressed here, which are the system delay and loss of information. In fact, the…
Discrete abstractions of continuous and hybrid systems have recently been the topic of great interest from both the control systems and the computer science communities, because they provide a sound mathematical framework for analysing and…
In this study, linear matrix inequality (LMI) approaches and multiobjective (MO) evolutionary algorithms are integrated to design controllers. An MO matrix inequality problem (MOMIP) is first defined. A hybrid MO differential evolution…
Finite model finders give users the ability to specify properties of a system in mathematical logic and then automatically find concrete examples, called solutions, that satisfy the properties. These solutions are often viewed as a key…