Related papers: Improving Transient Performance of Adaptive Contro…
In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general nonlinear reference model system is considered that captures an…
This paper explores the properties of adaptive systems with closed-loop reference models. Using additional design freedom available in closed-loop reference models, we design new adaptive controllers that are (a) stable, and (b) have…
One of the main features of adaptive systems is an oscillatory convergence that exacerbates with the speed of adaptation. Recently it has been shown that Closed-loop Reference Models (CRMs) can result in improved transient performance over…
This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbance. The adaptive controller ensures uniformly bounded transient and asymptotic tracking…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…
Adaptive fuzzy control strategies are established to achieve global prescribed performance with prescribed-time convergence for strict-feedback systems with mismatched uncertainties and unknown nonlinearities. Firstly, to quantify the…
This paper presents a framework for the design and analysis of an $\mathcal{L}_1$ adaptive controller with a switching reference system. The use of a switching reference system allows the desired behavior to be scheduled across the…
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 article proposes a Model Reference Adaptive Control (MRAC) strategy to achieve fixed-time convergence of parameter estimation and tracking errors for unknown linear time-invariant systems, without relying on the persistence of…
We provide a method to design adaptive controllers for nonlinear systems using model predictive control (MPC). By combining a certainty-equivalent MPC formulation with least-mean-square parameter adaptation, we obtain an adaptive controller…
This paper presents a novel adaptive feedforward controller design for reset control systems. The combination of feedforward and reset feedback control promises high performance as the feedforward guarantees reference tracking, while the…
Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
Ensuring the frequency stability of electric grids with increasing renewable resources is a key problem in power system operations. In recent years, a number of advanced controllers have been designed to optimize frequency control. These…
Reference tracking is a key objective in many control systems, including those characterized by complex nonlinear dynamics. In these settings, traditional control approaches can effectively ensure steady-state accuracy but often struggle to…
This paper proposes an Adaptive Learning Model Predictive Control strategy for uncertain constrained linear systems performing iterative tasks. The additive uncertainty is modeled as the sum of a bounded process noise and an unknown…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
In this paper, we present a novel idea to improve the transient performance of the existing Simple Adaptive Control architecture, without requiring high adaptation gains. Improvement in performance is achieved by incorporating the closed…
This paper develops some extensions to the work of [1] which studied the continuous-time adaptive output tracking control schemes with the reference output signal generated from an unknown reference model system. The presented extensions…