Related papers: Fault tolerant controller design for a class of af…

The stabilization of nonlinear systems under zero-state-detectability assumption or its analogues is considered. The proposed supervisory control provides a finite time practical stabilization of output and it is based on uniting local and…

This paper studies the problem of real-time fault recovery control for nonlinear control-affine systems subject to actuator loss of effectiveness faults and external disturbances. We derive a two-stage framework that combines causal…

In the evolving landscape of high-speed agile quadrotor flight, achieving precise trajectory tracking at the platform's operational limits is paramount. Controllers must handle actuator constraints, exhibit robustness to disturbances, and…

In this paper, we first study the leader-following output synchronization problem for a class of uncertain nonlinear multi-agent systems over jointly connected switching networks. Our approach integrates the output-based adaptive…

This paper presents a fault-tolerant control scheme for constrained linear systems. First, a new variant of the Reference Governor (RG) called At Once Reference Governor (AORG) is introduced. The AORG is distinguished from the conventional…

Recently a new fault tolerant and simple mechanism was designed for solving commit consensus problem. It is based on replicated validation of messages sent between transaction participants and a special dispatcher validator manager node.…

This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…

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…

We address a distributed adaptive control methodology for nonlinear interconnected systems possibly affected by network anomalies. In the framework of adaptive approximation, the distributed controller and parameter estimator are designed…

This paper shows how the theory of adaptive observers can be effectively used in the design internal models for nonlinear output regulation. The main result obtained in this way is a new method for the synthesis of adaptive internal models…

This paper presents a distributed adaptive control strategy for multi-agent systems with heterogeneous dynamics and collision avoidance. We propose an adaptive control strategy designed to ensure leader-following formation consensus while…

Modern data-driven control applications call for flexible nonlinear models that are amenable to principled controller synthesis and realtime feedback. Many nonlinear dynamical systems of interest are control affine. We propose two novel…

This paper presents a novel nonlinear disturbance rejection control for hydraulic robots. This method requires two third-order filters as well as inverse dynamics in order to estimate the disturbances. All the parameters for the third-order…

This paper proposes a novel model-free secondary voltage control (SVC) for microgrids using nonlinear multiple models adaptive control. The proposed method is comprised of two components. Firstly, a linear robust adaptive controller is…

Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…

Critical systems must be designed resilient to all kinds of malfunctions. We are especially interested by the loss of control authority over actuators. This malfunction considers actuators producing uncontrolled and possibly undesirable…

Quadruped robots have strong adaptability to extreme environments but may also experience faults. Once these faults occur, robots must be repaired before returning to the task, reducing their practical feasibility. One prevalent concern…

This paper develops a fault detection and identification (FDI) method for nonlinear control-affine systems under simultaneous actuator and sensor faults. We adopt a geometric approach to study the isolability of faults in the sense of the…

In this paper, we consider the problem of set-point tracking for a discrete-time plant with unknown plant parameters belonging to a convex and compact uncertainty set. We carry out parameter estimation for an associated auxiliary plant, and…

Cyber-physical systems (CPS) with reinforcement learning (RL)-based controllers are increasingly being deployed in complex physical environments such as autonomous vehicles, the Internet-of-Things(IoT), and smart cities. An important…