Related papers: Robust Global Adaptive Exponential Stabilization o…
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 develops a robust safety-critical control method for nonlinear strictfeedback systems with mismatched disturbances. Using a state transformation and a linear time-varying disturbance observer, the system is converted into a form…
This paper presents extensions of finite-time stability results to some prototypical adaptive control and estimation frameworks. First, we present a novel scheme of online parameter estimation that guarantees convergence of the estimation…
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,…
We present a novel technique for solving the problem of safe control for a general class of nonlinear, control-affine systems subject to parametric model uncertainty. Invoking Lyapunov analysis and the notion of fixed-time stability (FxTS),…
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 introduces a parameter adaptation-based control law for a class of nonlinear, control-affine, safety-critical systems subject to additive, parameter-affine model uncertainty. It is shown that the uncertainty is learned in…
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…
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…
This work develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The approach adjusts the rate of adaptation online to eliminate the…
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…
We develop a control design for stabilization of traffic flow in congested regime, based on an Aw-Rascle-Zhang-type (ARZ-type) Partial Differential Equation (PDE) model, for traffic consisting of both ACC-equipped (Adaptive Cruise…
Much recent progress has been achieved for stabilization of linear and nonlinear systems with input delays that are long and dependent on either time or the plant state---provided the dependence is known. In this paper we consider the delay…
The ability to achieve precise and smooth trajectory tracking is crucial for ensuring the successful execution of various tasks involving robotic manipulators. State-of-the-art techniques require accurate mathematical models of the robot…
In this research we consider linear time-invariant plants and assume that the regressor finite excitation requirement is met. In such case, a new law to adjust the controller parameters, which ensures the exponential stability of the…
In this article, we develop a new adaptive event-triggered asymptotic control scheme for strict-feedback systems with fast time-varying parameters. To deal with time-varying parameters with unknown variation boundaries in the feedback path…
This paper studies the exponential stabilization on infinite dimensional system with impulse controls, where impulse instants appear periodically. The first main result shows that exponential stabilizability of the control system with a…
This paper provides sufficient conditions for global asymptotic stability and global exponential stability, which can be applied to nonlinear, large-scale, uncertain discrete-time systems. The conditions are derived by means of vector…
In this paper, we develop and analyze an integral fixed-time sliding mode control method for a scenario in which the system model is only partially known, utilizing Gaussian processes. We present two theorems on fixed-time convergence. 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…