Francesco Delli Priscoli, Lorenzo Marconi, Alberto Isidori
This paper shows how the theory of adaptive observers can be effectively used in the design internal models for nonlinear output regulation. The main result obtained in this way is a new method for the synthesis of adaptive internal models which substantially enhances the existing theory of adaptive output regulation, by allowing nonlinear internal models and more general classes of controlled plants.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
继续探索
A new framework for adaptive regulation to invariant sets is proposed. Reaching the target dynamics (invariant set) is to be ensured by state feedback while adaptation to parametric uncertainties is provided by additional adaptation algorithm. We show that for a sufficiently large class of nonlinear systems it is possible to adaptively steer the system trajectories to the desired non-equilibrium state without requiring knowledge or existence of a specific strict Lyapunov function.
Adaptive Thrust Regulation in Solid-fuel Ramjet with Variable Geometry Inlet
本文提出基于动态模式自适应控制的推力调节方法，用于无模型调节具有可变几何进气口的固体燃料冲压发动机推力。
This paper considers the synchronized output regulation (SOR) problem of nonlinear multi-agent systems with switching graph. The SOR means that all agents regulate their outputs to synchronize on the output of a predefined common exosystem. Each agent constructs its local exosystem with the same dynamics as that of the common exosystem and exchanges the state information of the local exosystem. It is shown that the SOR is solvable under the assumptions same as that for nonlinear output regulation of a single agent, if the switching graph satisfies the bounded interconnectivity times condition.…
In this paper we show how nonlinear internal models can be effectively used in the design of output regulators for nonlinear systems. This result provides a significant enhancement of the non-equilibrium theory for output regulation, which we have presented in the recent paper entitled "Limit Sets, Zero Dynamics, and Internal Models in the Problem of Nonlinear Output Regulation".
In this paper, we first present an adaptive distributed observer for a discrete-time leader system. This adaptive distributed observer will provide, to each follower, not only the estimation of the leader's signal, but also the estimation of the leader's system matrix. Then, based on the estimation of the matrix S, we devise a discrete adaptive algorithm to calculate the solution to the regulator equations associated with each follower, and obtain an estimated feedforward control gain. Finally, we solve the cooperative output regulation problem for discrete-time linear multi-agent systems by b…
This paper shows how the theory of nonlinear adaptive observers can be effectively used in the design of internal models for nonlinear output regulation. The theory substantially enhances the existing results in the context of {\em adaptive} output regulation, by allowing for not necessarily stable zero dynamics of the controlled plant and by weakening the standard assumption of having the steady state control input generated by a linear system.
In this paper, adaptive set-point regulation controllers for discrete-time nonlinear systems are constructed. The system to be controlled is assumed to have a parametric uncertainty, and an excitation signal is used in order to obtain the parameter estimate. The proposed controller belongs to the category of indirect adaptive controllers, and its construction is based on the policy of calculating the control input rather than that of obtaining a control law. The proposed method solves the adaptive set-point regulation problem under the (possibly minimal) assumption that the target state is rea…
This paper considers the cooperative output regulation problem for linear multi-agent systems with a directed communication graph, heterogeneous linear subsystems, and an exosystem whose output is available to only a subset of subsystems. Both the cases with nominal and uncertain linear subsystems are studied. For the case with nominal linear subsystems, a distributed adaptive observer-based controller is designed, where the distributed adaptive observer is implemented for the subsystems to estimate the exogenous signal. For the case with uncertain linear subsystems, the proposed distributed o…
A Refined Algorithm for the Adaptive Optimal Output Regulation Problem
针对线性未知系统的自适应最优输出调节问题，本文将原有高维线性方程解耦为两个低维方程，降低了未知变量规模并显著弱化可解性条件。
The voltage received by each customer connected to a power distribution line with local controllers (inverters) is regulated to be within a desired margin through a class of slope-restricted controllers, known conventionally as \emph{droop} controllers. We adapt the design of the droop controllers according to the known bounds of the net power consumption of each customer in each observation time window. A sufficient condition for voltage regulation is provided for each time window, which guides the design of the droop controllers, depending on the properties of the distribution line (line imp…
In this paper, we consider the output synchronization problem for a network of heterogeneous diffusively-coupled nonlinear agents. Specifically, we show how the (non-identical) agents can be controlled in such a way that their outputs asymptotically track the output of a prescribed nonlinear exosystem. The problem is solved in two steps. In the first step, the problem of achieving consensus among (identical) nonlinear reference generators is addressed. In this respect, it is shown how the techniques recently developed to solve the consensus problem among linear agents can be extended to agents…
Output regulation of infinite-dimensional nonlinear systems: a forwarding approach for contraction semigroups
针对非线性压缩半群系统的鲁棒输出调节问题，论文采用加入积分作用的forwarding方法设计反馈律，建立局部指数稳定与全局渐近稳定条件，并通过半线性系统示例验证应用。
Adaptive Control By Regulation-Triggered Batch Least-Squares Estimation of Non-Observable Parameters
本文扩展了最近提出的间接、确定等价、事件触发自适应控制方案，用于非可观测参数的情况。通过使用一种新的批量最小二乘识别器（BaLSI），在事件发生时激活。BaLSI保证了参数估计的有限时间渐近恒定性，并且闭环系统轨迹跟随名义闭环系统轨迹（
We show how optimal nonlinear regulation can be achieved in a model predictive control fashion.
Adaptive Boundary Control of Constant-Parameter Reaction-Diffusion PDEs Using Regulation-Triggered Finite-Time Identification
本文提出基于确定性等价的新型自适应边界控制方案，通过事件触发最小二乘识别器实现参数估计的有限时间收敛，针对特定基准问题解决高频率增益未知的挑战。
Thrust Regulation in a Solid Fuel Ramjet using Dynamic Mode Adaptive Control
本文提出动态模式自适应控制用于固体燃料冲压发动机推力调节，通过高保真模型和动态模式分解实现稳定控制，展现强鲁棒性。
An In-situ Solid Fuel Ramjet Thrust Monitoring and Regulation Framework Using Neural Networks and Adaptive Control
针对固体燃料冲压发动机燃烧控制难题，本文提出结合神经网络推力估计与基于回溯成本优化的在线自适应控制框架，并通过仿真验证其可利用有限原位数据有效调节推力。
Adaptive Certainty-Equivalence Control With Regulation-Triggered Finite-Time Least-Squares Identification, Part II: Analysis
本文分析了新的调节触发自适应控制方法的稳定性，提出了检查参数可观测性假设的算法，适用于每个微分方程中最多出现一个未知参数的非线性控制系统。
Distributed Output Regulation for a Class of Nonlinear Multi-Agent Systems with Unknown-Input Leaders
本文研究了一类不确定非线性多智能体系统在局部扰动下的分布式输出调节问题，针对领导者未知输入和动态差异的情况，设计分布式反馈控制器使智能体全局或半全局跟踪不确定领导者。
In this paper, we study the event-triggered global robust practical output regulation problem for a class of nonlinear systems in output feedback form with any relative degree. Our approach consists of the following three steps. First, we design an internal model and an observer to form the so-called extended augmented system. Second, we convert the original problem into the event-triggered global robust practical stabilization problem of the extended augmented system. Third, we design an output-based event-triggered control law and a Zeno-free output-based event-triggered mechanism to solve t…
Optimism-Based Adaptive Regulation of Linear-Quadratic Systems
本文研究了线性二次系统自适应调节中的探索与利用权衡问题，提出基于乐观方法的自适应策略，并建立了最坏情况下后悔的高概率上界，证明了该上界在对数因子范围内最优，且仅需系统可稳定性和噪声分布尾重限制的温和假设。
The prescribed-time stabilization problem for a general class of nonlinear systems with unknown input gain and appended dynamics (with unmeasured state) is addressed. Unlike the asymptotic stabilization problem, the prescribed-time stabilization objective requires convergence of the state to the origin in a finite time that can be arbitrarily picked (i.e., prescribed) by the control system designer irrespective of the initial condition of the system. The class of systems considered is allowed to have general nonlinear uncertain terms throughout the system dynamics as well as uncertain appended…
This paper studies the event-triggered cooperative global robust output regulation problem for a class of nonlinear multi-agent systems via a distributed internal model design. We show that our problem can be solved practically in the sense that the ultimate bound of the tracking error can be made arbitrarily small by adjusting a design parameter in the proposed event-triggered mechanism. Our result offers a few new features. First, our control law is robust against both external disturbances and parameter uncertainties, which are allowed to belong to some arbitrarily large prescribed compact …
Nonparametric Steady-State Learning for Nonlinear Output Feedback Regulation
研究一般非线性输出反馈系统的非参数和鲁棒输出调节问题，利用非自适应框架转化问题，纳入非参数学习框架确保非线性映射可行性，通过三个实例验证该方法在复杂系统中保证误差收敛的有效性。
Adaptive Certainty-Equivalence Control With Regulation-Triggered Finite-Time Least-Squares Identification, Part I: Design
本文提出一种新颖的自适应控制方法，结合事件触发的有限时间最小二乘辨识，确保系统稳定性和参数收敛，无需持续激励。
Nonlinear Bipartite Output Regulation with Application to Turing Pattern
本文针对符号网络下的非线性多智能体系统，提出非线性分布式观测器解决二分输出调节问题，并应用于领导者跟随二分一致性与Turing图案生成。
Distributed Coordination for a Class of Nonlinear Multi-agent Systems with Regulation Constraints
本文研究了一类非线性系统中具有稳态调节约束的多智能体协调问题，提出基于局部目标函数和邻居信息的分布式算法，有效应对噪声数据观测的全局约束，通过仿真验证算法在实际问题中的有效性。
Control of warm-water supply for dialysis treatment in a hospital environment is typical of safety-critical control problems. In order to guarantee the continuity of warm-water supply satisfying physical specifications for a wide range of operating conditions, it is inevitable to consider the nonlinearity involved in a dynamic model of a warm-water supply system for the control design. In this paper, we propose to incorporate control specifications described by signal temporal logic, which is a temporal logic with semantics over finite-time signals in formal methods, into the so-called Koopman…
The paper deals with the problem of output regulation in a "non-equilibrium" context for a special class of multivariable nonlinear systems stabilizable by high-gain feedback. A post-processing internal model design suitable for the multivariable nature of the system, which might have more inputs than regulation errors, is proposed. Uncertainties in the system and exosystem are dealt with by assuming that the ideal steady state input belongs to a certain "class of signals" by which an appropriate model set for the internal model can be derived. The adaptation mechanism for the internal model i…
We consider the problem of designing a state feedback control law to achieve nonovershooting tracking for feedback linearisable multiple-input multiple-output nonlinear systems. The reference signal is assumed to be obtained from a linear exosystem. The design method adopts known methods for the nonovershooting tracking of linear systems and extends them to the output regulation of feedback linearisable nonlinear systems. The method accommodates arbitrary initial conditions and offers design choice of the tracking convergence speed.
Output regulation for a reaction-diffusion system with input delay and unknown frequency
针对同时存在输入时滞和完全未知扰动的反应-扩散系统，提出结合模态分解与双观测器的自适应控制架构，实现状态与扰动实时估计，通过跟踪误差控制器达到输出指数收敛，并经数值仿真验证。
In the absence of persistency of excitation (PE), referring to adaptive control systems as "asymptotically stable" typically indicates insufficient understanding of stability concepts. While the state is indeed regulated to zero and the parameter estimate has some limit, namely, the overall state converges to some equilibrium, the equilibrium reached is not unique (and not even necessarily stable) but is dependent on the initial condition. The equilibrium set in the absence of PE is not uniformly attractive (from an open set containing the equilibrium set); hence, asymptotic stability does not…
Nonadaptive Learning in Robust Nonlinear Output Regulation
针对相对阶任意高的输出反馈非线性系统，提出结合输入驱动滤波器、通用内模与递归反步律的非自适应调节方法，通过杜芬系统验证其可实现全局渐近调节及误差收敛。
Data-Driven Nonlinear Regulation: Gaussian Process Learning
针对一类非线性系统的输出调节问题，提出融合传统控制与 GP 回归的输出反馈控制器，在线学习未知内模映射，并证明闭环有界收敛且精度提升可缩小收敛集。
Optimal frequency regulation in nonlinear power networks including turbine-governor dynamics
本文提出一种分布式最优负荷频率控制方案，通过能量函数推导出非线性网络模型的增量被动性性质，并设计分布式控制器调整发电功率，考虑了水轮机-调速器动态，解决了非被动性带来的稳定性分析挑战。
Output regulation for an unstable wave equation with output delay and one measurement only
本文针对具有输出延迟和未知扰动的不稳定波动方程，通过反步法设计前馈调节器，并利用单一测量构建误差反馈控制器，实现跟踪误差指数收敛，为分布式参数系统输出调节提供开创性方案。
A nonparametric learning framework for nonlinear robust output regulation
针对非线性鲁棒输出调节问题，提出非参数学习框架，放宽稳态生成器假设、简化实现降复杂度，结合动态增益实现无先验知识镇定，还可用于未知频率正弦信号估计与线性输出调节求解，经仿真验证有效。
An adaptive funnel control method is considered for the regulation of the output for a class of nonlinear infinite-dimensional systems on real Hilbert spaces. After a decomposition of the state space and some change of variables related to the Byrnes-Isidori form, it is shown that the funnel controller presented in (Berger et al., 2020) achieves the control objective under some assumptions on the nonlinear system dynamics, like well-posedness and Bounded-Input-State Bounded-Output (BISBO) stability. The theory is applied to the regulation of the temperature in a chemical plug-flow tubular reac…
Initial hopes of quickly eradicating the COVID-19 pandemic proved futile, and the goal shifted to controlling the peak of the infection, so as to minimize the load on healthcare systems. To that end, public health authorities intervened aggressively to institute social distancing, lock-down policies, and other Non-Pharmaceutical Interventions (NPIs). Given the high social, educational, psychological, and economic costs of NPIs, authorities tune them, alternatively tightening up or relaxing rules, with the result that, in effect, a relatively flat infection rate results. For example, during the…
Nonadaptive Output Regulation of Second-Order Nonlinear Uncertain Systems
针对带未知 exosystem 的二阶非线性不确定系统，本文提出基于 generic internal models 和坐标变换的非自适应鲁棒控制方法，避免 bursting phenomenon，实现输出调节并应用于 Duffing 系统。
This paper is about the nonlinear local error feedback regulator problem. The plant is a nonlinear finite-dimensional system with a single control input and a single output and it is locally exponentially stable around the origin. The plant is driven, via a separate disturbance input, by a Lyapunov stable exosystem whose states are nonwandering. The reference signal that the plant output must track is a nonlinear function of the exosystem state. The local error feedback regulator problem is to design a dynamic feedback controller, with the tracking error as its input, such that (i) the closed-…
We present a model predictive control (MPC) framework to solve the constrained nonlinear output regulation problem. The main feature of the proposed framework is that the application does not require the solution to classical regulator (Francis-Byrnes-Isidori) equations or any other offline design procedure. In particular, the proposed formulation simply minimizes the predicted output error, possibly with some input regularization. Instead of using terminal cost/sets or a positive definite stage cost as is standard in MPC theory, we build on the theoretical results by Grimm et al. 2005 using a…
This paper presents an approach to target tracking that is based on a variable-gain integrator and the Newton-Raphson method for finding zeros of a function. Its underscoring idea is the determination of the feedback law by measurements of the system's output and estimation of its future state via lookahead simulation. The resulting feedback law is generally nonlinear. We first apply the proposed approach to tracking a constant reference by the output of nonlinear memoryless plants. Then we extend it in a number of directions, including the tracking of time-varying reference signals by dynamic…
This paper addresses the problem of controlling a variable-speed wind turbine with a Doubly Fed Induction Generator (DFIG), modeled as an electromechanically-coupled nonlinear system with rotor voltages and blade pitch angle as its inputs, active and reactive powers as its outputs, and most of the aerodynamic and mechanical parameters as its uncertainties. Using a blend of linear and nonlinear control strategies (including feedback linearization, pole placement, uncertainty estimation, and gradient-based potential function minimization) as well as time-scale separation in the dynamics, we deve…
We investigate the problem of practical output regulation, i.e., to design a controller that brings the system output in the vicinity of a desired target value while keeping the other variables bounded. We consider uncertain systems that are possibly nonlinear and the uncertainty of their linear parts is modeled element-wise through a parametric family of matrix boxes. An optimization-based design procedure is proposed that delivers a continuous-time control and estimates the maximal regulation error. We also analyze an event-triggered emulation of this controller, which can be implemented on …
The paper deals with the control and regulation by integral controllers forthe nonlinear systems governed by scalar quasi-linear hyperbolic partial differentialequations. Both the control input and the measured output are located on the boundary.The closed-loop stabilization of the linearized model with the designed integral controlleris proved first by using the method of spectral analysis and then by the Lyapunov directmethod. Based on the elaborated Lyapunov function we prove local exponential stabilityof the nonlinear closed-loop system with the same controller. The output regulationto the…
Computational Modeling and Learning-Based Adaptive Control of Solid-Fuel Ramjets
本文针对固体燃料冲压发动机推力调节难题，提出结合CFD建模与RCAC学习型自适应控制的框架，仿真验证其在静态和动态工况下均能实现精确且鲁棒的推力调节。
In these notes we collect some results from several of the authors' works in order to make available a single source and show how the approximate geometric methods for regulation have been developed, and how the control design strategy has evolved from the theoretical methods, involving the regulator equations, to what we now call the regularized controller. In between these two extremes we developed, in a series of works, a fairly rigorous analysis of the regularization scheme leading to the regularized dynamic regulator equations and an iterative scheme that produces very accurate tracking a…
Beyond Nonlinear Small-Gain Design: DADS with Partial-State Feedback
本文研究了PDEs中部分状态调节问题，结合DADS和IOS方法，展示了在存在外部输入时无需假设扰动或参数界即可实现鲁棒调节的控制器设计。
Data-Guided Regulator for Adaptive Nonlinear Control
本文研究在未知时变扰动下为非线性系统设计数据驱动反馈控制器的问题，提出了DG-RAN算法，通过单一轨迹的离散时间序列数据在线迭代调节系统状态并辨识扰动动态，实现了有限时间调节并在6-DOF动力下降制导问题中验证了有效性。
扫码添加微信好友，提出您的宝贵建议 👇
💡 备注请填写：网站反馈
发表机构由 AI 从论文文本抽取，如发现错误，欢迎反馈修正建议。