Safe and Robust Observer-Controller Synthesis Using Control Barrier Functions

Design of Observer-based H∞ Controller for Robust Stabilization of Networked Systems Using Switched Lyapunov Functions

In this paper, H∞ controller is synthesized for networked systems subject to random transmission delays with known upper bound and different occurrence probabilities in the both of feedback (sensor to controller) and forward (controller to actuator) channels. A remote observer is employed to improve the performance of the system by computing non-delayed estimates of the sates. The closed-loop s...

Design of Nonlinear Robust Controller and Observer for Control of a Flexible Spacecraft

Two robust nonlinear controllers along with a nonlinear observer have been developed in this study to control a 1D nonlinear flexible spacecraft. The first controller is based on dynamic inversion, while the second one is composed of dynamic inversion and µ-synthesis controllers. The extension of dynamic inversion approach to flexible spacecraft is impeded by the non-minimum phase characteristi...

Safe Online Learning Using Barrier Functions

We present a method for guaranteeing the safety of online learning schemes. The method uses barrier certificates and Sums-of-Squares programming to find a safe region of state space and a controller which renders that space positively invariant. This safe set and controller are then used to create ”training wheels”, which can be added to any controller to create a guaranteed safe controller. Th...

Integrated Fault-detection and Control of DC Microgrids Using SDRE Observer-controller

In this paper, using the state-dependent Riccati equation (SDRE) technique, a suboptimal fault-tolerant control scheme is designed for a DC microgrid in the islanded mode. The objectives are the voltages control of the photo-voltaic cell, the battery, the capacitor bank, and the DC bus as well as on time fault detection. In the design procedure of the SDRE observer-controller, a nonlinear mathe...

robust control of a high-purity disttilation column using synthesis