Related papers: Model Reference Adaptive Control Allocation for Co…
The main purpose of a control allocator is to distribute a total control effort among redundant actuators. This paper proposes a discrete adaptive control allocator for over-actuated sampled-data systems in the presence of actuator…
This paper proposes a projection algorithm which can be employed to bound actuator signals, in terms of both magnitude and rate, for uncertain systems with redundant actuators. The investigated closed loop control system is assumed to…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
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…
In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…
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 proposes a new adaptation methodology to find the control inputs for a class of nonlinear systems with time-varying bounded uncertainties. The proposed method does not require any prior knowledge of the uncertainties including…
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…
Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…
This paper focuses on the use of unknown input observers for detection and isolation of actuator and effector faults with control reconfiguration in overactuated systems. The control allocation actively uses input redundancy in order to…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…
This work presents a new sufficient condition for synthesizing nonlinear controllers that yield bounded closed-loop tracking error transients despite the presence of unmatched uncertainties that are concurrently being learned online. The…
Modern aircraft are designed with redundant control effectors to cater for fault tolerance and maneuverability requirements. This leads to aircraft being over-actuated and requires control allocation schemes to distribute the control…
This paper presents a framework for the design and analysis of an $\mathcal{L}_1$ adaptive controller with a switching reference system. The use of a switching reference system allows the desired behavior to be scheduled across the…
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…
Firstly, a new state feedback model reference adaptive control approach is developed for uncertain systems with gain scheduled reference models in a multi-input multi-output (MIMO) setting. Specifically, adaptive state feedback for output…
This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…
We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…