Related papers: A Unified Approach to High-Gain Adaptive Controlle…
Stability theory plays a crucial role in feedback control. However, adaptive control theory requires advanced and specialized stability notions that are not frequently used in standard feedback control theory. The present document is a set…
A learning approach for optimal feedback gains for nonlinear continuous time control systems is proposed and analysed. The goal is to establish a rigorous framework for computing approximating optimal feedback gains using neural networks.…
The present paper provides a sufficient condition to ensure output finite-time and fixed-time stability. Comparing with analogous researches the proposed result is less restrictive and obtained for a wider class of systems. The presented…
We present a new direct adaptive control approach for nonlinear systems with unmatched and matched uncertainties. The method relies on adjusting the adaptation gains of individual unmatched parameters whose adaptation transients would…
This paper investigates the consensus problem of multiple uncertain Lagrangian systems. Due to the discontinuity resulted from the switching topology, achieving consensus in the context of uncertain Lagrangian systems is challenging. We…
In this paper we first study the fixed-time stabilizability of discrete-time switched linear control systems. Using a geometric approach, we derive conditions under which such systems can be stabilized within a prescribed number of steps,…
A high-gain observer is used for a class of feedback linearisable nonlinear systems to synthesize safety-preserving controllers over the observer output. A bound on the distance between trajectories under state and output feedback is…
Classical discrete-time adaptive controllers provide asymptotic stabilization. While the original adaptive controllers did not handle noise or unmodelled dynamics well, redesigned versions were proven to have some tolerance; however,…
This paper proposes a novel online data-driven adaptive control for unknown linear time-varying systems. Initialized with an empirical feedback gain, the algorithm periodically updates this gain based on the data collected over a short time…
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…
Statistical properties of environments experienced by biological signaling systems in the real world change, which necessitate adaptive responses to achieve high fidelity information transmission. One form of such adaptive response is gain…
This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…
We consider the adaptive control problem for discrete-time, nonlinear stochastic systems with linearly parameterised uncertainty. Assuming access to a parameterised family of controllers that can stabilise the system in a bounded set within…
This note studies the robust output feedback stabilization problem of multi-input multi-output invertible nonlinear systems with output-dependent multipliers. An "ideal" state feedback is first designed under certain mild assumptions. Then,…
Adaptive guaranteed-performance consensus control problems for multi-agent systems are investigated, where the adjustable convergence speed is discussed. This paper firstly proposes a novel adaptive guaranteed-performance consensus…
This note presents the design and analysis of an adaptive controller for a class of linear plants in the presence of output feedback. This controller makes use of a closed-loop reference model as an observer, and guarantees global stability…
Learning stabilizing controllers from data is an important task in engineering applications; however, collecting informative data is challenging because unstable systems often lead to rapidly growing or erratic trajectories. In this work,…
We provide a solution to the heretofore open problem of stabilization of systems with arbitrarily long delays at the input and output of a nonlinear system using output feedback only. The solution is global, employs the predictor approach…
It is nontrivial to achieve global zero-error regulation for uncertain nonlinear systems. The underlying problem becomes even more challenging if mismatched uncertainties and unknown time-varying control gain are involved, yet certain…
This paper studies the synchronization of a multi-agent system where the agents are coupled through heterogeneous controller gains. Synchronization refers to the situation where all the agents in a group have a common velocity direction. We…