Related papers: Adaptive Control By Regulation-Triggered Batch Lea…
In this paper, a triggered Batch Least-Squares Identifier (BaLSI) based adaptive safety control scheme is proposed for uncertain systems with potentially conflicting control objectives and safety constraints. A relaxation term is added to…
This paper concerns the adaptive control problem for a class of nonlinear stochastic systems in which the state update is given by a nonlinear function of linear dynamics plus additive stochastic noise. Such systems arise in a wide range of…
For general nonlinear control systems we present a novel approach to adaptive control, which employs a certainty equivalence (indirect) control law and an identifier with event-triggered updates of the plant parameter estimates, where 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…
In this paper, we propose a novel sampling control framework based on the emulation technique where the sampling error is regarded as an auxiliary input to the emulated system. Utilizing the supremum norm of sampling error, the design of…
For parabolic PDEs, we present a new certainty equivalence-based adaptive boundary control scheme with a least-squares identifier of an event-triggering type, where the triggering is based on the size of the regulation error (as opposed to…
We present the stability analysis for the new regulation-triggered approach to adaptive control introduced in a companion paper. Due to the fact that the closed-loop system is hybrid, our proofs have essential differences from the…
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…
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…
In this work, an adaptive predictive control scheme for linear systems with unknown parameters and bounded additive disturbances is proposed. In contrast to related adaptive control approaches that robustly consider the parametric…
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…
It is typically proven in adaptive control that asymptotic stabilization and tracking holds, and that at best a bounded-noise bounded-state property is proven. Recently, it has been shown in both the pole-placement control and the $d$-step…
A novel method of an adaptive linear quadratic (LQ) regulation of uncertain continuous linear time-invariant systems is proposed. Such an approach is based on the direct self-tuning regulators design framework and the exponentially stable…
This article presents a closed-form adaptive controlbarrier-function (CBF) approach for satisfying state constraints in systems with parametric uncertainty. This approach uses a sampled-data recursive-least-squares algorithm to estimate the…
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…
This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a strict-feedback structure with unknown parameters entering both…
This article studies the control ideas of the optimal backstepping technique, proposing an event-triggered optimal tracking control scheme for a class of strict-feedback nonlinear systems with non-affine and nonlinear faults. A simplified…
Control-based continuation (CBC) is a general and systematic method to explore the dynamic response of a physical system and perform bifurcation analysis directly during experimental tests. Although CBC has been successfully demonstrated on…
We propose a certainty-equivalence scheme for adaptive control of scalar linear systems subject to additive, i.i.d. Gaussian disturbances and bounded control input constraints, without requiring prior knowledge of the bounds of the system…
We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…