This paper proposes a data-driven control design method for nonlinear systems that builds upon the Koopman operator framework. In particular, the Koopman operator is used to lift the nonlinear dynamics to a higher-dimensional space where the so-called obse ...
Increasing the scanning speed in Atomic Force Microscopy (AFM) relies on improving the tracking performance in the vertical direction of motion. The lightly damped resonances of piezo-actuators utilized in AFM nano-positioning stages hinder the maximum ach ...
Next-generation motion control systems require fast and precise control. However, advanced control strategies often rely on complex and costly system models. Data-driven methods have been proposed to design high-performance controllers without requiring a ...
This paper introduces a novel method for data-driven robust control of nonlinear systems based on the Koopman operator, utilizing Integral Quadratic Constraints (IQCs). The Koopman operator theory facilitates the linear representation of nonlinear system d ...
A novel approach for linear parameter-varying (LPV) controller synthesis for adaptive rejection of frequency-varying sinusoidal disturbances is proposed. Only the frequency response data of a linear time-invariant (LTI) multiple-input-multiple-output (MIMO ...
In this work, we propose a novel data-driven representation for general linear time-invariant (LTI) systems based on behavioral system theory. This representation relies solely on input-output data, eliminating the need for exact knowledge of the system st ...
With increasing control applications in large-scale distributed and networked systems, the impact of uncertain time delay is ever-increasing. This paper proposes the use of a novel non-parametric Integral Quadratic Constraint (IQC) to achieve robustness ag ...
Institute of Electrical and Electronics Engineers Inc.2024
Next-generation motion control systems require fast and precise control, but advanced control strategies often rely on complex and expensive models. This paper proposes a data-driven approach to tune controllers for a joint used in a robotic arm. This is a ...
The frequency response data of a generalized system is used to design fixed-structure controllers for the H2 and H∞ synthesis problem. The minimization of the two and infinity norm of the transfer function between the exogenous inputs and performance outpu ...
This study introduces a novel frequency-based data-driven controller for adaptive optics, using power spectral density for optimization while ensuring stability criteria. It addresses disturbance rejection, command amplitude constraints and system transfer ...
