Related papers: Model Reference Adaptive Control Allocation for Co…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
This paper presents a novel nonlinear backstepping control law for continuous, low-thrust station-keeping in the Earth-Moon system. Quasi-periodic libration point orbits are targeted under a high-fidelity model of the dynamics. Almost…
In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…
This paper proposes a novel online data-driven adaptive control for unknown linear time-varying systems. Initialized with an empirical feedback gain, the algorithm periodically updates this gain based on the data collected over a short time…
In this paper we present a switching control strategy to incrementally stabilize a class of nonlinear dynamical systems. Exploiting recent results on contraction analysis of switched Filippov systems derived using regularization, sufficient…
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…
This work proposes a new adaptive-robust control (ARC) architecture for a class of uncertain Euler-Lagrange (EL) systems where the upper bound of the uncertainty satisfies linear in parameters (LIP) structure. Conventional ARC strategies…
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…
This paper proposes an Adaptive Learning Model Predictive Control strategy for uncertain constrained linear systems performing iterative tasks. The additive uncertainty is modeled as the sum of a bounded process noise and an unknown…
This paper deals with unit vector control design for multivariable polytopic uncertain systems under saturating actuators. For that purpose, we propose LMI-based conditions to design the unit vector control gain such that the origin of the…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
This paper extends our previous study on an explicit saturated control for a quadcopter, which ensures both constraint satisfaction and stability thanks to the linear representation of the system in the flat output space. The novelty here…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
We propose a technique for the design and analysis of adaptation algorithms in dynamical systems. The technique applies both to systems with conventional Lyapunov-stable target dynamics and to ones of which the desired dynamics around the…
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)…
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…
In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened as Time-Delayed Adaptive Robust Control (TARC) is…
The dead-zone is one of the most common hard nonlinearities in industrial actuators and its presence may drastically compromise control systems stability and performance. In this work, an adaptive variable structure controller is proposed…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…