Related papers: Improving Transient Performance of Adaptive Contro…
Firstly, a new state feedback model reference adaptive control approach is developed for uncertain systems with gain scheduled reference models in a multi-input multi-output (MIMO) setting. Specifically, adaptive state feedback for output…
We consider the problem of online control of systems with time-varying linear dynamics. This is a general formulation that is motivated by the use of local linearization in control of nonlinear dynamical systems. To state meaningful…
State and input constraints are ubiquitous in all engineering systems. In this article, we derive adaptive controllers for uncertain linear systems under pre-specified state and input constraints. Several modifications of the model…
In controlling systems with large operating envelopes, it is often necessary to adjust the desired dynamics according to operating conditions. This paper presents a robust adaptive control architecture for linear parameter-varying (LPV)…
This paper develops adaptive output tracking control schemes with the reference output signal generated from an unknown reference system whose output derivatives are also unknown. To deal with such reference system uncertainties, an…
This paper presents an adaptive reference governor (RG) framework for a linear system with matched nonlinear uncertainties that can depend on both time and states, subject to both state and input constraints. The proposed framework…
This paper proposes a composite adaptive control architecture using dual adaptation scheme for dynamical systems comprising time-varying uncertain parameters. While majority of the adaptive control schemes in literature address the case of…
Driven by the flexible manufacturing trend in the process control industry and the uncertain nature of chemical process models, this article aims to achieve offset-free tracking for a family of uncertain nonlinear systems (e.g., using…
The ever-increasing industry desire for improved performance makes linear controller design run into fundamental limitations. Nonlinear control methods such as Reset Control (RC) are needed to overcome these. RC is a promising candidate…
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 presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
Both fixed-gain control and adaptive learning architectures aim to mitigate the effects of uncertainties. In particular, fixed-gain control offers more predictable closed-loop system behavior but requires the knowledge of uncertainty…
A continuous adaptive control design is developed for nonlinear dynamical systems with linearly parameterizable uncertainty involving time-varying uncertain parameters. The key feature of this design is a robust integral of the sign of the…
This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying…
This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…
The frequency response analysis describes the steady-state responses of a system to sinusoidal inputs at different frequencies, providing control engineers with an effective tool for designing control systems in the frequency domain.…
This study focuses on the problem of optimal mismatched disturbance rejection control for uncontrollable linear discrete-time systems. In contrast to previous studies, by introducing a quadratic performance index such that the regulated…
Reset controllers have demonstrated their effectiveness in enhancing performance in precision motion systems. To further exploiting the potential of reset controllers, this study introduces a parallel-partial reset control structure.…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
This paper focuses on optimal mismatched disturbance rejection control for linear continuoustime uncontrollable systems. Different from previous studies, by introducing a new quadratic performance index to transform the mismatched…