Learning Robustly Safe Output Feedback Controllers from Noisy Data with Performance Guarantees
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This thesis addresses the design of optimization-based control laws for the case where convergence to a desired set-point, minimization of an arbitrary performance index, or a combination of the two, is the desired objective. The results are developed with ...
The objective of this dissertation is to develop data-driven frequency-domain methods for designing robust controllers through the use of convex optimization algorithms. Many of today's industrial processes are becoming more complex, and modeling accurate ...
The frequency-domain data of a multivariable system in different operating points is used to design a robust controller with respect to the measurement noise and multimodel uncertainty. The controller is fully parametrized in terms of matrix polynomial fun ...
This paper presents the practical aspects and application of a novel data-driven, fixed-structure, robust control design method. Only the frequency response data of the system is needed for the design, and no parametric model is required. The method can be ...
A new robust controller design method that satisfies the H-infinity criterion is developed for linear time-invariant single-input single-output (SISO) systems. A data-driven approach is implemented in order to avoid the unmodeled dynamics associated with p ...
This paper presents a solution to the problem of path following control for autonomous marine vehicles (AMVs) subject to input constraints and constant ocean current disturbances. We propose two nonlinear control strategies: the first is obtained by using ...
This paper proposes a decentralized control strategy for the voltage regulation of islanded inverter-interfaced micro- grids. We show that an inverter-interfaced microgrid under plug- and-play (PnP) functionality of distributed generations (DGs) can be cas ...
Institute of Electrical and Electronics Engineers2017
Despite recent advances in prostheses, intuitive and robust control of poly-articulated prosthetic hands remains an unsolved problem. The TACT-HAND project aims at providing hand amputees with improved dexterous capabilities by exploiting tactile sensing a ...
We study finite horizon optimal control where the controller is subject to sensor-information constraints, that is, each input has access to a fixed subset of states at all times. In particular, we consider linear systems affected by exogenous disturbances ...
The inter-area oscillations are common in power system and can occur due to the changes in the load or generation power especially in long transmission lines. This paper presents the design of a robust fixed-order loop shaping controller to damp out the in ...