Related papers: Adaptive Backstepping Control for Fractional-Order…
Stabilizing controller design and region of attraction (RoA) estimation are essential in nonlinear control. Moreover, it is challenging to implement a control Lyapunov function (CLF) in practice when only partial knowledge of the system is…
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,…
This paper is devoted to the development of adaptive control schemes for uncertain discrete-time systems, which guarantee robust, global, exponential convergence to the desired equilibrium point of the system. The proposed control scheme…
Since the classical proportional-integral-derivative (PID) controller has continued to be the most widely used feedback methods in engineering systems by far, it is crucial to investigate the working mechanism of PID in dealing with…
This paper studies the problem of utilizing data-driven adaptive control techniques to guarantee stability and safety of uncertain nonlinear systems with high relative degree. We first introduce the notion of a High Order Robust Adaptive…
In this paper, disturbance reconstruction and robust trajectory tracking control of biped robots with hybrid dynamics in the port-Hamiltonian form is investigated. A new type of Hamiltonian function is introduced, which ensures the…
This paper presents a -- Learning from Demonstration -- method to perform robot movement trajectories that can be defined as you go. This way unstructured tasks can be performed, without the need to know exactly all the tasks and start and…
In this paper, a state feedback control design with min/max operational limiting constraints is developed for multi-input-multi-output linear time invariant systems. Specifically, servo-tracking control problems with input and output…
In the article$^a$, the authors introduced a time-varying Lyapunov function for the stability analysis of nonlinear systems whose motion is governed by standard Newton-Euler equations. The authors established asymptotic stability with the…
In this paper input-to-state practically stabilizing control laws for retarded, control-affine, nonlinear systems with actuator disturbance are investigated. The developed methodology is based on the Arstein's theory of control Liapunov…
We present data-based conditions for enforcing contractivity via feedback control and obtain desired asymptotic properties of the closed-loop system. We focus on unknown nonlinear control systems whose vector fields are expressible via a…
In this paper, a nonlinear rotational inverted pendulum with time-varying parameters is controlled using the indirect adaptive fuzzy controller design. This type of controller is chosen because this particular system performance is highly…
In this paper we deal with infinite-dimensional nonlinear forward complete dynamical systems which are subject to external disturbances. We first extend the well-known Datko lemma to the framework of the considered class of systems. Thanks…
This paper presents a backstepping approach for the boundary control of first-order hyperbolic equations with spatially varying coefficients posed on domains of arbitrary dimension. The method is based on a change of variables induced by…
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…
In this work, we establish a convenient similarity between an adaptive backstepping control law and a standard proportional-integral-derivative (PID) controller for a class of second-order systems. The extracted similarity provides a deeper…
In this paper, a new control scheme, called as additive-decomposition-based tracking control, is proposed to solve the output feedback tracking problem for a class of systems with measurable nonlinearities and unknown disturbances. By the…
A unified solution to adaptive approximation-based control for nonlinear systems with accurate and inaccurate state measurement is synthesized in this study. Starting from the standard adaptive approximation-based controller with accurate…
The paper deals with the problem of output regulation of nonlinear systems by presenting a learning-based adaptive internal model-based design strategy. We borrow from the adaptive internal model design technique recently proposed in [1]…
The performance of a conventional model-based controller significantly depends on the accuracy of the modeled dynamics. The model of a plant's dynamics is subjected to errors in estimating the numerical values of the physical parameters,…