Related papers: A Control Theoretical Adaptive Human Pilot Model: …
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 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 presents a controller for the transition maneuver of a tail-sitter drone. The tail-sitter model considers aerodynamic terms whereas the proposed controller considers the time-scale separation between drone attitude and position…
The robust tracking and model following problem of linear discrete-time systems is investigated in this paper. An approach to design robust tracking controllers is proposed. The system is controlled to track dynamic inputs generated from a…
In this paper an adaptive sliding mode control approach for a quadrotor stabilization and trajectory tracking is presented. The closed loop control consists of three parts; the first part is quadrotor altitude and attitude stabilization,…
In this paper, we consider the problem of platooning control with mismatched disturbances using the distributed adaptive backstepping method. The main challenges are: (1) maintaining the compositionality and the distributed nature of the…
A continuous adaptive control design is developed for nonlinear dynamical systems with linearly parameterizable uncertainty involving time-varying uncertain parameters. The key feature of this design is a robust integral of the sign of the…
We propose a model predictive control approach for autonomous vehicles that exploits learned Gaussian processes for predicting human driving behavior. The proposed approach employs the uncertainty about the GP's prediction to achieve…
This note presents the design and analysis of an adaptive controller for a class of linear plants in the presence of output feedback. This controller makes use of a closed-loop reference model as an observer, and guarantees global stability…
This paper presents a model of an agile tail-sitter aircraft, which can operate as a helicopter as well as capable of transition to fixed-wing flight. Aerodynamics of the co-axial counter-rotating propellers with quad rotors are analysed…
The transition of control from autonomous systems to human drivers is critical in automated driving systems, particularly due to the out-of-the-loop (OOTL) circumstances that reduce driver readiness and increase reaction times. Existing…
The attitude control of a spacecraft is integral to achieving mission success. However, failures in actuators such as reaction wheels are detrimental and can often lead to an early end of mission. We propose a Lyapunov-based adaptive…
A sliding-mode-based adaptive boundary control law is proposed for a class of uncertain thermal reaction-diffusion processes subject to matched disturbances. The disturbances are assumed to be bounded, but the corresponding bounds are…
Adaptive controllers are designed to synchronize two different chaotic systems with uncertainties, including unknown parameters, internal and external perturbations. Lyapunov stability theory is applied to prove that under some conditions…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…
This paper introduces a novel model-based adaptive shared control to allow for the identification and design challenge for shared-control systems, in which humans and automation share control tasks. The main challenge is the adaptive…
Stability theory plays a crucial role in feedback control. However, adaptive control theory requires advanced and specialized stability notions that are not frequently used in standard feedback control theory. The present document is a set…
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 this work, we introduce a novel data-driven model-reference control design approach for unknown linear systems with fully measurable state. The proposed control action is composed by a static feedback term and a reference tracking block,…