Low-Complexity Control for a Class of Uncertain MIMO Nonlinear Systems under Generalized Time-Varying Output Constraints

no code implementations • 8 Jan 2024 • Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis, Dimos V. Dimarogonas

This paper introduces a novel control framework to address the satisfaction of multiple time-varying output constraints in uncertain high-order MIMO nonlinear control systems.

Control of Nonlinear Systems Under Multiple Time-Varying Output Constraints: A Single Funnel Approach

no code implementations • 12 Jul 2023 • Farhad Mehdifar, Lars Lindemann, Charalampos P. Bechlioulis, Dimos V. Dimarogonas

This paper proposes a novel control framework for handling (potentially coupled) multiple time-varying output constraints for uncertain nonlinear systems.

Funnel Control Under Hard and Soft Output Constraints

no code implementations • 3 Aug 2022 • Farhad Mehdifar, Charalampos P. Bechlioulis, Dimos V. Dimarogonas

This paper proposes a funnel control method under time-varying hard and soft output constraints.

2-D Directed Formation Control Based on Bipolar Coordinates

no code implementations • 2 Aug 2021 • Farhad Mehdifar, Charalampos P. Bechlioulis, Julien M. Hendrickx, Dimos V. Dimarogonas

This work proposes a novel 2-D formation control scheme for acyclic triangulated directed graphs (a class of minimally acyclic persistent graphs) based on bipolar coordinates with (almost) global convergence to the desired shape.