相关论文: Some control design experiments with HIFOO

We consider discrete-time plants that interact with their controllers via fixed discrete alphabets. For this class of systems, and in the absence of exogenous inputs, we propose a general, conceptual procedure for constructing a sequence of…

In this work, we propose an extension of the previously introduced Corridor Model Predictive Control scheme for high-order and distributed systems, with an application for on-orbit inspection. To this end, we leverage high order control…

This paper proposes a hybrid-gain finite-time sliding-mode control (HG-FTSMC) strategy for a class of perturbed nonlinear systems. The controller combines a finite-time reaching law that drives the sliding variable to a predefined boundary…

Model-based optimization approaches for monitoring and control, such as model predictive control and optimal state and parameter estimation, have been used for decades in many engineering applications. Models describing the dynamics,…

A novel MIMO homogeneous Super-Twisting Algorithm is proposed in this paper for nonlinear systems with relative degree one, having a time and state-varying uncertain control matrix. The uncertainty is represented by a constant but unknown…

Computer Aided Control System Design (CACSD) allows to analyze complex interconnected systems and design controllers achieving challenging control requirements. We extend CACSD to systems with time delays and illustrate the functionality of…

The skew Toeplitz approach is one of the well developed methods to design H-infinity controllers for infinite dimensional systems. In order to be able to use this method the plant needs to be factorized in some special manner. This paper…

Typically, it is desirable to design a control system that is not only robustly stable in the presence of parametric uncertainties but also guarantees an adequate level of system performance. However, most of the existing methods need to…

We study machine learning systems for real-time industrial quality control. In many factory systems, production processes must be continuously controlled in order to maintain product quality. Especially challenging are the systems that must…

An eigenvalue based framework is developed for the stability analysis and stabilization of coupled systems with time-delays, which are naturally described by delay differential algebraic equations. The spectral properties of these equations…

This article presents proposals for the design of reduced-order controllers for high-dimensional dynamical systems. The objective is to develop efficient control strategies that ensure stability and robustness with reduced computational…

This paper investigates the safety analysis and verification of nonlinear systems subject to high-relative-degree constraints and unknown disturbance. The closed-form solution of the high-order control barrier functions (HOCBF) optimization…

The approach in Foias et al. (1996) is one of the well-developed methods to design H-infinity controllers for general infinite dimensional systems. This approach is applicable if the plant admits a special coprime inner/outer factorization.…

We introduce the MATLAB-based software QuITO (Quasi-Interpolation based Trajectory Optimization) to numerically solve a wide class of constrained nonlinear optimal control problems (OCP). The solver is based on the QuITO (the same…

In this paper we address planning problems in high-dimensional hybrid configuration spaces, with a particular focus on manipulation planning problems involving many objects. We present the hybrid backward-forward (HBF) planning algorithm…

The paper presents an approach to flatness-based control design for hyperbolic multi-input systems, building upon the hyperbolic controller form (HCF). The transformation into HCF yields a simplified system representation that considerably…

Higher-order modal fixpoint logic (HFL) is a higher-order extension of the modal mu-calculus, and strictly more expressive than the modal mu-calculus. It has recently been shown that various program verification problems can naturally be…

This chapter provides an introduction to Hybrid High-Order (HHO) methods. These are new generation numerical methods for PDEs with several advantageous features: the support of arbitrary approximation orders on general polyhedral meshes,…

Continuous software engineering has become commonplace in numerous fields. However, in regulating intensive sectors, where additional concerns needs to be taken into account, it is often considered difficult to apply continuous development…

A MATLAB toolbox is presented, with the goal of checking occurrences of design errors typically found in fixed-point digital systems, considering finite word-length effects. In particular, the present toolbox works as a front-end to a…