Related papers: Classical Discrete-Time Adaptive Control Revisited…
A novel adaptive control approach is proposed to solve the globally asymptotic state stabilization problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback…
We consider the task of motion control for non-prehensile manipulation using parallel kinematics mechatronic setup, in particular, stabilization of a ball on a plate under unmeasured external harmonic disturbances. System parameters are…
We derive a state-space characterization of all dynamic state-feedback controllers that make an equilibrium of a nonlinear input-affine continuous-time system locally exponentially stable. Specifically, any controller obtained as the sum of…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classical discrete-time retrospective cost adaptive control…
It has been known for some time that proportional output feedback will stabilize MIMO, minimum-phase, linear time-invariant systems if the feedback gain is sufficiently large. High-gain adaptive controllers achieve stability by…
A novel method of exponentially stable adaptive control to compensate for matched parametric uncertainty under a mild condition of semi-persistent excitation (s-PE) of a regressor with piecewise-constant rank and nullspace is proposed. It…
We present a simple model-free control algorithm that is able to robustly learn and stabilize an unknown discrete-time linear system with full control and state feedback subject to arbitrary bounded disturbance and noise sequences. The…
Composite adaptive control schemes, which use both the system tracking errors and the prediction error to drive the update laws, have become widespread in achieving an improvement of system performance. However, a strong…
This paper studies the feedback stabilization of abstract Cauchy problems with unbounded output operators by finite-dimensional controllers. Both necessary conditions and sufficient conditions for feedback stabilizability are presented. The…
We provide theoretical guarantees for recursive feasibility and practical exponential stability of the closed-loop system of a feedback linearizable nonlinear system when controlled by a robust data-driven nonlinear predictive control…
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…
In this paper, we will investigate the moment exponential stabilization of highly nonlinear hybrid stochastic differential delay equations. A periodically intermittent controller based on discrete time state observations with asynchronous…
This paper provides an exponential stability result for the adaptive anti-unwinding attitude tracking control problem of a rigid body with uncertain but constant inertia parameters, without requiring the satisfaction of persistent…
In this paper, first, it is shown that if a nonlinear time-varying system is contractive, then it is incrementally exponentially stable. Second, leveraging this result, under mild restrictions, an approach is proposed to design feedforward…
We propose and analyze a stabilizing iteration scheme for the algorithmic implementation of model predictive control for linear discrete-time systems. Polytopic input and state constraints are considered and handled by means of so-called…
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 work is devoted to the construction of explicit feedback control laws for the robust, global, exponential stabilization of general, uncertain, discrete-time, acyclic traffic networks. We consider discrete-time, uncertain network models…
Recent developments in data-driven control have revived interest in the behavioral approach to systems theory, where systems are defined as sets of trajectories rather than being described by a specific model or representation. However,…
Proportional control can be realized directly through the amplification of analog signals, and it also has the advantage of easy tuning parameters in digital signal control. However, it is difficult for the proportional control to preset…