Related papers: Direct Adaptive Controller for Uncertain MIMO Dyna…
This paper concerns the adaptive control of a class of discrete-time nonlinear systems with all states accessible. Recently, a high-order tuner algorithm was developed for the minimization of convex loss functions with time-varying…
In this paper, near optimal tracking of a class of nonlinear systems is addressed. Adaptive (approximate) dynamic programming approach is used to calculate the optimal control in closed form. ADP (Adaptive (approximate) dynamic programming)…
The paper deals with analysis and design of sliding mode control systems modeled by finite-dimensional integro-differential equations. Filippov method and equivalent control approach are extended to a class of nonlinear discontinuous…
In this paper, we present Lyapunov-based adaptive controllers for the practical (or real) stabilization of a perturbed chain of integrators with bounded uncertainties. We refer to such controllers as Adaptive Higher Order Sliding Mode…
This paper focuses on the dynamical properties of delayed complex balanced systems. We first study the relationship between the stoichiometric compatibility classes of delayed and non-delayed systems. Using this relation we give another way…
In this paper, we develop a systematic method for constructing a generalized discrete-time control Lyapunov function for the flexible-step Model Predictive Control (MPC) scheme, recently introduced in [2], when restricted to the class of…
Safe obstacle avoidance and target set stabilization for nonlinear systems using reactive feedback control is under consideration. Based only on local information and by considering virtual dynamics, a safe path is generated online. The…
We consider the problem of adaptive stabilization for discrete-time, multi-dimensional linear systems with bounded control input constraints and unbounded stochastic disturbances, where the parameters of the true system are unknown. To…
We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a…
This paper considers real-time control and learning problems for finite-dimensional linear systems under binary-valued and randomly disturbed output observations. This has long been regarded as an open problem because the exact values of…
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaining the compositionality and the distributed nature of the…
This work is devoted to investigate the stability properties of time-delay reset systems. We present a Lyapunov-Krasovskii proposition, which generalizes the available results in the literature, providing results for verifying the stability…
We address the problem of output reference tracking for unknown non-linear multi-input, multi-output systems described by functional differential equations. This class of systems includes those with a strict relative degree, and…
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)…
The present paper is mainly aimed at introducing a novel notion of stability of nonlinear time-delay systems called Rational Stability. According to the Lyapunov-type, various sufficient conditions for rational stability are reached. Under…
Deep neural network (DNN)-based adaptive controllers can be used to compensate for unstructured uncertainties in nonlinear dynamic systems. However, DNNs are also very susceptible to overfitting and co-adaptation. Dropout regularization is…
This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
Safety is essential for autonomous systems, in particular for interconnected systems in which the interactions among subsystems are involved. Motivated by the recent interest in cyber-physical and interconnected autonomous systems, we…
In this contribution, the estimates for the response of time delay systems with nonlinear homogeneous right-hand side of degree strictly greater than one are constructed. The existing results obtained via the Lyapunov--Razumikhin approach…
Time delay based control, recently proposed for non-collocated fourth-order systems, has several advantages over an observer-based state-feedback compensation of the low-damped oscillations in output. In this paper, we discuss a practical…