Related papers: Handling actuator magnitude and rate saturation in…
This paper proposes an adaptive control allocation approach for uncertain over-actuated systems with actuator saturation. The proposed method does not require uncertainty estimation or a persistent excitation assumption. Using the…
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…
Input constraints as well as parametric uncertainties must be accounted for in the design of safe control systems. This paper presents an adaptive controller for multiple-input-multiple-output (MIMO) plants with input magnitude and rate…
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…
This chapter deals with the design of dynamic allocation functions for systems with saturating actuators. The goal of the allocator consists in redistributing the desired control effort within the multiple actuators by penalizing each…
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…
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…
This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying…
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…
Transporting ore from mines to ports is of significant interest in mining supply chains. These operations are commonly associated with growing costs and a lack of resources. Large mining companies are interested in optimally allocating…
The projection algorithm is frequently used in adaptive control and this note presents a detailed analysis of its properties.
Most uncertainty-aware robotic systems collapse prediction uncertainty into a single scalar score and use it to trigger uniform corrective responses. This aggregation obscures whether uncertainty arises from corrupted observations or from…
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…
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…
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…
In this work, we consider a group of robots working together to manipulate a rigid object to track a desired trajectory in $SE(3)$. The robots do not know the mass or friction properties of the object, or where they are attached to the…
This paper presents a new parameter estimation algorithm for the adaptive control of a class of time-varying plants. The main feature of this algorithm is a matrix of time-varying learning rates, which enables parameter estimation error…
This article considers the problem of risk-optimal allocation of security measures when the actuators of an uncertain control system are under attack. We consider an adversary injecting false data into the actuator channels. The attack…
Designing control systems with bounded input is a practical consideration since realizable physical systems are limited by the saturation of actuators. The actuators' saturation degrades the performance of the control system, and in extreme…