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Roy, S. (author), Baldi, S. (author)
Available control methods for underactuated Euler–Lagrange (EL) systems rely on structure-specific constraints that may be appropriate for some systems, but restrictive for others. A generalized (structure-independent) control framework is to a large extent missing, especially in the presence of uncertainty. This paper introduces an adaptive...
journal article 2020
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Roy, S. (author), Baldi, S. (author), Fridman, Leonid M. (author)
Adaptive Sliding Mode Control (ASMC) aims to adapt the switching gain in such a way to cope with possibly unknown uncertainty. In state-of-the-art ASMC methods, a priori boundedness of the uncertainty is crucial to ensure boundedness for the switching gain and uniformly ultimately boundedness. A priori bounded uncertainty might impose a...
journal article 2020
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Yang, Jun (author), Wang, X. (author), Baldi, S. (author), Singh, Satish (author), Fari, S. (author)
This paper discusses the design and software-in-the-loop implementation of adaptive formation controllers for fixed-wing unmanned aerial vehicles (UAVs) with parametric uncertainty in their structure, namely uncertain mass and inertia. In fact, when aiming at autonomous flight, such parameters cannot assumed to be known as they might vary...
journal article 2019
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Baldi, N. (author), Dykstra, James C. (author), Luttik, M.A.H. (author), Pabst, M. (author), Wu, Liang (author), Benjamin, Kirsten R. (author), Vente, André (author), Pronk, J.T. (author), Mans, R. (author)
Efficient production of fuels and chemicals by metabolically engineered micro-organisms requires availability of precursor molecules for product pathways. In eukaryotic cell factories, heterologous product pathways are usually expressed in the cytosol, which may limit availability of precursors that are generated in other cellular...
journal article 2019
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Baldi, S. (author), Tao, T. (author), Kosmatopoulos, Elias B. (author)
In this study, the authors study adaptive synchronisation in networks with Kuramoto units whose parameters are unknown and where measurements are quantised over the communication network (therefore information is limited). They show that, for an undirected connected graph, synchronisation is enabled via appropriate adaptive protocols that...
journal article 2019
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Chen, Yong (author), Lyu, M. (author), Baldi, S. (author), Liu, Zongcheng (author), Zhang, Wenqian (author), Zhou, Yang (author)
This work focuses on adaptive neural dynamic surface control (DSC) for an extended class of nonlinear MIMO strict-feedback systems whose control gain functions are continuous and possibly unbounded. The method is based on introducing a compact set which is eventually proved to be an invariant set: thanks to this set, the restrictive...
conference paper 2019
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Baldi, S. (author), Zhang, Fan (author), Le, Quang Thuan (author), Endel, Petr (author), Holub, Ondrej (author)
In smart buildings, the models used for energy management and those used for maintenance scheduling differ in scope and structure: while the models for energy management describe continuous states (energy, temperature), the models used for maintenance scheduling describe only a few discrete states (healthy/faulty equipment, and fault typology...
journal article 2019
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Ye, J. (author), Roy, S. (author), Godjevac, M. (author), Baldi, S. (author)
With the growing demand of large-scale heavy lift vessels in the deep-sea offshore construction works, high performance of Dynamic positioning (DP) systems is becoming ever crucial. However, current DP systems on board of heavy lift vessels do not consider model uncertainty (typically arising from mooring forces). In this paper, an observer...
journal article 2019
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Tao, T. (author), Jain, V. (author), Baldi, S. (author)
Adaptive CACC strategies have been recently proposed to stabilize a platoon with non-identical and uncertain vehicle dynamics (heterogeneous platoon). This work proposes a method to augment such strategies with a mechanism coping with saturation constraints (i.e. engine constraints). In fact, in a platoon of heterogeneous vehicles, engine...
journal article 2019
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Roy, S. (author), Roy, Sayan Basu (author), Lee, Jinoh (author), Baldi, S. (author)
Underestimation and overestimation problems are commonly observed in conventional adaptive sliding mode control (ASMC). These problems refer to the fact that the adaptive controller gain unnecessarily increases when the states are approaching the sliding surface (overestimation) or improperly decreases when the states are getting far from it ...
journal article 2019
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Yuan, S. (author), Zhang, Lixian (author), Baldi, S. (author)
In the presence of discontinuous time-varying delays, neither Krasovskii nor Razumikhin techniques can be successfully applied to adaptive stabilization of uncertain switched time-delay systems. This paper develops a new adaptive control scheme for switched time-delay systems that can handle impulsive behavior in both states and time-varying...
journal article 2019
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Baldi, S. (author), Michailidis, Iakovos (author), Ntampasi, Vasiliki (author), Kosmatopoulos, Elias (author), Papamichail, Ioannis (author), Papageorgiou, Markos (author)
Traffic congestion in urban networks may lead to strong degradation in the utilization of the network infrastructure, which can be mitigated via suitable control strategies. This paper studies and analyzes the performance of an adaptive traffic-responsive strategy that controls the traffic light parameters in an urban network to reduce...
journal article 2019
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Roy, S. (author), Baldi, S. (author)
This letter proposes a new adaptive control method for a class of nonlinearly-parametrized switched systems that includes Monod kinetics and Euler-Lagrange systems with nonlinear in parameters form as special cases. As compared to the adaptive switched frameworks proposed in literature, the proposed adaptation framework has the distinguishing...
journal article 2019
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Lyu, M. (author), Baldi, S. (author), Liu, Zongcheng (author)
This work removes the critical assumptions of continuity, differentiability, and state-independent boundedness, which are typical of compounded disturbances in disturbance observer-based adaptive designs. Crucial in removing such assumptions are a novel observer-based design with state-dependent gain in place of a constant one, and a novel...
journal article 2019
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Baldi, S. (author), Frasca, Paolo (author)
This work deals with state synchronization of heterogeneous linear agents with unknown dynamics. The problem is solved by formulating the synchronization problem as a special model reference adaptive control where each agent tries to converge to the model defined by its neighbors. For those agents that do not know the reference signal that...
journal article 2019
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de Winter, Alexander (author), Baldi, S. (author)
This work is meant to report on activities at TU Delft on the design and implementation of a path-following system for an autonomous Toyota Prius. The design encompasses: finding the vehicle parameters for the actual vehicle to be used for control design; lateral and longitudinal controllers for steering and acceleration, respectively. The...
journal article 2018
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Yuan, S. (author), Zhang, Lixian (author), Holub, Ondrej (author), Baldi, S. (author)
This letter introduces a new switched adaptive control mechanism that can cope with parametric uncertainty while using discrete and saturated actuators. Control of air handling units (AHUs), where air and water supply have discrete and saturated characteristics, is the motivational drive behind this letter. We show that the cheap actuation...
journal article 2018
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Azzollini, Ilario A. (author), Baldi, S. (author), Kosmatopoulos, Elias B. (author)
We analyze adaptive synchronization capabilities in networks with Kuramoto-like units whose dynamical features are unknown and thus synchronization protocols must exhibit co-evolution capabilities. In the presence of heterogeneous and uncertain units, synchronization should be enabled by appropriate adaptive protocols that counteract the...
conference paper 2018
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Moustakis, N. (author), Yuan, S. (author), Baldi, S. (author)
This paper establishes an adaptive tracking approach for linear systems with parametric uncertainties, when input measurements are quantized due to the presence of a communication network closing the control loop. In order to address the tracking problem, a novel dynamic quantizer with dynamic offset is introduced and embedded into an...
conference paper 2018
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Baldi, S. (author)
While several robust cooperative output regulation approaches for heterogeneous systems have been proposed (with fixed-gain distributed controllers), the design of adaptive-gain distributed controllers becomes relevant in dealing with larger uncertainty than robust approaches. This letter addresses the adaptive cooperative output regulation...
journal article 2018
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