Related papers: Model Reference Adaptive Control of Piecewise Affi…
Difference control schemes for controlling unstable fixed points become important if the exact position of the fixed point is unavailable or moving due to drifting parameters. We propose a memory difference control method for stabilization…
Dwell-time based stability conditions for a class of LPV systems with piecewise constant parameters under time-varying delay are derived using clock-dependent Lyapunov-Krasovskii functional. Sufficient synthesis conditions for…
In many control system applications, state constraint satisfaction needs to be guaranteed within a prescribed time. While this issue has been partially addressed for systems with known dynamics, it remains largely unaddressed for systems…
We consider the problem of optimizing the economic performance of nonlinear constrained systems subject to uncertain time-varying parameters and bounded disturbances. In particular, we propose an adaptive economic model predictive control…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
This work develops a new direct adaptive control framework that extends the certainty equivalence principle to general nonlinear systems with unmatched model uncertainties. The approach adjusts the rate of adaptation online to eliminate the…
Model Reference Adaptive Control based on Lyapunov stability theory is developed for gust load alleviation of nonlinear aeroelastic systems. The controller operates on a nonlinear reduced-order model derived from Taylor series expansion and…
We propose a sampling-based approach to learn Lyapunov functions for a class of discrete-time autonomous hybrid systems that admit a mixed-integer representation. Such systems include autonomous piecewise affine systems, closed-loop…
In this paper a novel approach is presented for control design with guaranteed transient performance for multiple-input multiple-output discrete-time linear polytopic difference inclusions. We establish a theorem that gives necessary and…
Learning-based control techniques use data from past trajectories to control systems with uncertain dynamics. However, learning-based controllers are often computationally inefficient, limiting their practicality. To address this…
This paper deals with the problem of formulating an adaptive Model Predictive Control strategy for constrained uncertain systems. We consider a linear system, in presence of bounded time varying additive uncertainty. The uncertainty is…
For systems with uncertain linear models, bounded additive disturbances and state and control constraints, a robust model predictive control algorithm incorporating online model adaptation is proposed. Sets of model parameters are…
This article provides a characterization of stability for switched nonlinear systems under average dwell-time constraints, in terms of necessary and sufficient conditions involving multiple Lyapunov functions. Earlier converse results focus…
This paper proposes an optimization with penalty-based feedback design framework for safe stabilization of control affine systems. Our starting point is the availability of a control Lyapunov function (CLF) and a control barrier function…
In this paper, we present Lyapunov-based robust and adaptive controllers for the finite time stabilization of a perturbed chain of integrators with bounded uncertainties. The proposed controllers can be designed for integrator chains of any…
We propose a model reference adaptive controller (MRAC) for uncertain linear time-invariant (LTI) plants with user-defined state and input constraints in the presence of unmatched bounded disturbances. Unlike popular optimization-based…
The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…
In this paper we address the problem of adaptive state observation of affine-inthe-states time-varying systems with delayed measurements and unknown parameters. The development of the results proposed in the [Bobtsov et al. 2021a] and in…
In this paper, we present a control framework for a general class of control-affine nonlinear systems under spatiotemporal and input constraints. Specifically, the proposed control architecture addresses the problem of reaching a given…
Several results regarding the stability and the stabilization of linear impulsive positive systems under arbitrary, constant, minimum, maximum and range dwell-time are obtained. The proposed stability conditions characterize the pointwise…