Related papers: Adaptive output error feedback for a class of nonl…
In this paper, adaptive set-point regulation controllers for discrete-time nonlinear systems are constructed. The system to be controlled is assumed to have a parametric uncertainty, and an excitation signal is used in order to obtain the…
This paper proposes a new extended-state observer-based framework for adaptive nonlinear regulator design of a class of nonlinear systems, in the general nonequilibrium theory. By augmenting an extended-state observer with an internal…
A new systematic approach to the construction of approximate solutions to a class of nonlinear singularly perturbed feedback control systems using the boundary layer functions especially with regard to the possible occurrence of the…
In this paper we present a direct adaptive control method for a class of uncertain nonlinear systems with a time-varying structure. We view the nonlinear systems as composed of a finite number of ``pieces,'' which are interpolated by…
This paper addresses output reference tracking with prescribed transient performance for unknown nonlinear multi-input multi-output systems with arbitrary relative degree. We propose a novel derivative-free extension of funnel control based…
A novel adaptive control approach is proposed to solve the globally asymptotic state stabilization problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback…
The paper addresses the problem of controller synthesis for control-affine nonlinear systems to meet reach-avoid-stay specifications. Specifically, the goal of the research is to obtain a closed-form control law ensuring that the…
In this paper, we present a data-driven output feedback controller for nonlinear systems that achieves practical output regulation, using noise-free input/output measurement data. The proposed controller is based on (i) an inverse model of…
It is nontrivial to achieve global zero-error regulation for uncertain nonlinear systems. The underlying problem becomes even more challenging if mismatched uncertainties and unknown time-varying control gain are involved, yet certain…
Output reference tracking of unknown nonlinear systems is considered. The control objective is exact tracking in predefined finite time, while in the transient phase the tracking error evolves within a prescribed boundary. To achieve this,…
This paper presents a novel operator-theoretic approach for optimal control of nonlinear stochastic systems within reproducing kernel Hilbert spaces. Our learning framework leverages data samples of system dynamics and stage cost functions,…
In this paper an output-feedback model-based reinforcement learning (MBRL) method for a class of second-order nonlinear systems is developed. The control technique uses exact model knowledge and integrates a dynamic state estimator within…
We study in this paper the problem of adaptive trajectory tracking control for a class of nonlinear systems with parametric uncertainties. We propose to use a modular approach, where we first design a robust nonlinear state feedback which…
A new framework for adaptive regulation to invariant sets is proposed. Reaching the target dynamics (invariant set) is to be ensured by state feedback while adaptation to parametric uncertainties is provided by additional adaptation…
This article addresses the nonadaptive and robust output regulation problem of the general nonlinear output feedback system with error output. The global robust output regulation problem for a class of general output feedback nonlinear…
We introduce a data-driven order reduction method for nonlinear control systems, drawing on recent progress in machine learning and statistical dimensionality reduction. The method rests on the assumption that the nonlinear system behaves…
A nonlinear frequency response based adaptive vibration controller is proposed for a class of nonlinear mechanical systems. In order to obtain the nonlinear Frequency Response Function (FRF), the convergence properties of the system are…
This paper introduces an indirect adaptive fuzzy model predictive control strategy for a nonlinear rotational inverted pendulum with model uncertainties. In the first stage, a nonlinear prediction model is provided based on the fuzzy sets,…
This note addresses the output synchronization problem of incrementally output-feedback passive nonlinear systems in the presence of exogenous disturbances. Two kinds of distributed controllers are proposed; one placed at the nodes and the…
Funnel control achieves output tracking with guaranteed tracking performance for unknown systems and arbitrary reference signals. In particular, the tracking error is guaranteed to satisfy time-varying error bounds for all times (it evolves…