Related papers: A Note on Nussbaum-type Control and Lie-bracket Ap…
Despite the celebrated success of stochastic control approaches for uncertain systems, such approaches are limited in the ability to handle non-Gaussian uncertainties. This work presents an adaptive robust control for linear uncertain…
In this work we present a nonlinear adaptive suboptimal control strategy for uncertain nonlinear systems. Stochastic parametric uncertainty is dealt with by employing spectral decomposition of the random variables by means of the…
This paper focuses on adaptive control of the discrete-time linear quadratic regulator (adaptive LQR). Recent literature has made significant contributions in proving non-asymptotic convergence rates, but existing approaches have a few…
In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened as Time-Delayed Adaptive Robust Control (TARC) is…
A fundamental concept in control theory is that of controllability, where any system state can be reached through an appropriate choice of control inputs. Indeed, a large body of classical and modern approaches are designed for controllable…
The problem of partial stabilization for nonlinear control systems described by the Ito stochastic differential equations is considered. For these systems, we propose a constructive control design method which leads to establishing the…
This paper deals with the stabilization of a class of linear infinite-dimensional systems with unbounded control operators and subject to a boundary disturbance. We assume that there exists a linear feedback law that makes the origin of the…
We investigate a class of higher-order nonlinear dispersive equations posed on the circle, subject to additive forcing by a finite-dimensional control. Our main objective is to establish approximate controllability by using the…
This paper is devoted to the stabilization problem for nonlinear driftless control systems by means of a time-varying feedback control. It is assumed that the vector fields of the system together with their first order Lie brackets span the…
This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…
We investigate the relevance of the conformal method by investigating stability issues for the Einstein-Lichnerowicz conformal constraint system in a nonlinear scalar-field setting. We prove the stability of the system with respect to…
This paper investigates the finite time stabilization problem for a class of nonlinear systems with unknown control directions and unstructured uncertainties. The unstructured uncertainties indicate that not only the parameters but also the…
We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
Robust adaptive control of scalar plants in the presence of unmodeled dynamics is established in this paper. It is shown that implementation of a projection algorithm with standard adaptive control of a scalar plant ensures global…
High performance tracking control can only be achieved if a good model of the dynamics is available. However, such a model is often difficult to obtain from first order physics only. In this paper, we develop a data-driven control law that…
Control-based continuation (CBC) is a general and systematic method to explore the dynamic response of a physical system and perform bifurcation analysis directly during experimental tests. Although CBC has been successfully demonstrated on…
This paper presents novel controllers that yield finite-time stability for linear systems. We first present a sufficient condition for the origin of a scalar system to be finite-time stable. Then we present novel finite-time controllers…
This paper proposes a nonlinear policy architecture for control of partially-observed linear dynamical systems providing built-in closed-loop stability guarantees. The policy is based on a nonlinear version of the Youla parameterization,…
For uncertain multiple inputs multi-outputs (MIMO) nonlinear systems, it is nontrivial to achieve asymptotic tracking, and most existing methods normally demand certain controllability conditions that are rather restrictive or even…