Related papers: L1 Adaptive Controller -- Performance Analysis of …
In adaptive control, a controller is precisely designed for a certain model of the system, but that model's parameters are updated online by another mechanism called the adaptive update. This allows the controller to aim for the benefits of…
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…
Networked control strategies based on limited information about the plant model usually results in worse closed-loop performance than optimal centralized control with full plant model information. Recently, this fact has been established by…
Nonlinear systems, such as switching DC-DC boost or buck converters, have rich dynamics. A simple one-dimensional discrete-time model is used to analyze the boost or buck converter in discontinuous conduction mode. Seven different control…
In this paper, the tracking control problem of an Euler-Lagrange system is addressed with regard to parametric uncertainties, and an adaptive-robust control strategy, christened Time-Delayed Adaptive Robust Control (TARC), is presented.…
A desirable property in fault-tolerant controllers is adaptability to system changes as they evolve during systems operations. An adaptive controller does not require optimal control policies to be enumerated for possible faults. Instead it…
Underactuated systems pose the challenge of being able to control a plant whose degrees of freedom are not necessarily directly linked to an actuator or where such a relationship is not straightforward. Rotary inverted pendulum is an…
In railway applications, it is common to use an LC filter connected between the catenary and the input port of the main converter of the auxiliary and traction systems. In addition, in the auxiliary systems, there is a converter operating…
We present a controller for a power electronic system composed of a fuel cell (FC) connected to a boost converter which feeds a resistive load. The controller aims to regulate the output voltage of the converter regardless of the…
Novel adaptive control architecture is presented that has guaranteed transient performance for system's both signals, input and output, simultaneously.
Symbiotic control synergistically integrates fixed-gain control and adaptive learning architectures to mitigate system uncertainties more predictably than adaptive learning alone and without requiring prior knowledge of uncertainty bounds…
This paper is concerned with model reference adaptive controller design for a class of nonlinear fractional order systems. Recent works on this topic rarely include direct methods and they are mostly based on indirect methods where the…
This paper develops an adaptive digital autopilot for quadcopters and presents experimental results. The adaptive digital autopilot is constructed by augmenting the PX4 autopilot control system architecture with adaptive digital control…
An integral extension of state-feedback controllers for linear time-varying plants is proposed, which preserves performance of the nominal controller in the unperturbed case. Similar to time-invariant state feedback with integral action,…
Model Predictive Control (MPC) is often tuned by trial and error. When a baseline linear controller exists that is already well tuned in the absence of constraints and MPC is introduced to enforce them, one would like to avoid altering the…
The grid-following and grid-forming controls in voltage-source converters are considered as different operation modes and the synchronization mechanism of them are studied separately. In this article, the intrinsic relationships between…
This work studies the inverse optimality of input-to-state stabilizing controllers with input-output stability guarantees for nonlinear homogeneous systems. We formulate a new inverse optimal control problem, where the cost functional…
An adaptive system for the suppression of vibration transmission using a single piezoelectric actuator shunted by a negative capacitance circuit is presented. It is known that using negative capacitance shunt, the spring constant of…
Three-phase AC-DC rectifiers are fundamental components in modern power electronics systems, yet achieving rapid voltage regulation and precise current tracking under load and grid disturbances remains challenging due to nonlinear dynamics…
This paper investigates the robust output regulation problem for an uncertain linear minimum-phase plant with cooperative parallel operation of multiple actuators. Building on the internal model approach, we first propose a dynamic output…