4 papers · 1 filter
Resilient Control Lyapunov Function-based Quadratic Program for Quadrotors Under Cyberattacks
Yichao Wang, Sameeha Tasneem, Mohamadamin Rajabinezhad +4
Ensuring the operational safety of quadrotors under partial actuator failures, lumped external disturbances, and malicious cyberattacks is a critical challenge due to the system's…
A Model-Based Extended State Observer for Discrete-Time Linear Multivariable Systems
Jinfeng Chen, Zhiqiang Gao, Qin Lin
In the absence of a detailed and accurate plant model, extended state observer (ESO) has been clearly shown as an effective tool in both control applications and theoretical analys…
Disturbance Rejection-Guarded Learning for Vibration Suppression of Two-Inertia Systems
Fan Zhang, Jinfeng Chen, Yu Hu +3
Model uncertainty presents significant challenges in vibration suppression of multi-inertia systems, as these systems often rely on inaccurate nominal mathematical models due to sy…
Robust Control Barrier Functions for Safe Control Under Uncertainty Using Extended State Observer and Output Measurement
Jinfeng Chen, Zhiqiang Gao, Qin Lin
Control barrier functions-based quadratic programming (CBF-QP) is gaining popularity as an effective controller synthesis tool for safe control. However, the provable safety is est…