Related papers: Output feedback control with prescribed performanc…
Model predictive control (MPC) for tracking is a recently introduced approach, which extends standard MPC formulations by incorporating an artificial reference as an additional optimization variable, in order to track external and…
This paper presents an approach to target tracking that is based on a variable-gain integrator and the Newton-Raphson method for finding zeros of a function. Its underscoring idea is the determination of the feedback law by measurements of…
We design a two-component controller to achieve reference tracking with output constraints - exemplified on systems of relative degree two. One component is a data-driven or learning-based predictive controller, which uses data samples to…
Firstly, a new state feedback model reference adaptive control approach is developed for uncertain systems with gain scheduled reference models in a multi-input multi-output (MIMO) setting. Specifically, adaptive state feedback for output…
This paper considers the problem of output feedback control for non-square multi-input multi-output systems with arbitrary relative degree. The proposed controller, based on the L1 adaptive control architecture, is designed using the right…
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…
Autonomous agents are often tasked with operating in an area where feedback is unavailable. Inspired by such applications, this paper develops a novel switched systems-based control method for uncertain nonlinear systems with temporary loss…
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…
We study convergence and stability properties of control-affine systems. Our considerations are motivated by the problem of stabilizing a control-affine system by means of output feedback for states in which the output function attains an…
A reliable controller is critical and essential for the execution of safe and smooth maneuvers of an autonomous vehicle.The controller must be robust to external disturbances, such as road surface, weather, and wind conditions, and so on.It…
This paper presents a novel adaptive feedforward controller design for reset control systems. The combination of feedforward and reset feedback control promises high performance as the feedforward guarantees reference tracking, while the…
Motor control requires sensory feedback, and the nature of this feedback has implications for the tasks of the central nervous system (CNS): for an approximately linear mechanical system (e.g., a freely standing person, a rider on a…
We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…
Adaptive fuzzy control strategies are established to achieve global prescribed performance with prescribed-time convergence for strict-feedback systems with mismatched uncertainties and unknown nonlinearities. Firstly, to quantify the…
Quantum tracking control encodes the desired dynamics into a tailored driving field; here, we let the system find its own way there. We propose a real-time feedback control framework in which a proportional controller continuously corrects…
The standard feedback model of reinforcement learning requires revealing the reward of every visited state-action pair. However, in practice, it is often the case that such frequent feedback is not available. In this work, we take a first…
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…
One of the main features of adaptive systems is an oscillatory convergence that exacerbates with the speed of adaptation. Recently it has been shown that Closed-loop Reference Models (CRMs) can result in improved transient performance over…
We analyse the closed-loop performance of a model predictive control (MPC) for tracking formulation with artificial references. It has been shown that such a scheme guarantees closed-loop stability and recursive feasibility for any…
This work proposes a force control strategy with prescribed transient performance for the legs of a wheel-legged robotic system to realize the posture adjustment on uneven roads. A dynamic model of the robotic system is established with the…