Related papers: Underactuated Source Seeking by Surge Force Tuning…
We introduce and analyze the stability of a class of event-triggered extremum-seeking algorithms designed to solve resource-aware, model-free, optimization problems. Leveraging recent advances in Lie-Bracket Averaging for hybrid systems, we…
This paper proposes a novel unit-quaternion observer-based controller for attitude tracking (attitude and angular velocity) with guaranteed transient and steady-state performance. The proposed approach is computationally cheap and can…
This paper proposes the incorporation of static event-triggered control in the actuation path of Newton-based extremum seeking and its comparison with the earlier gradient version. As in the continuous methods, the convergence rate of the…
We study the problem of global extremum seeking in the presence of local extrema. We investigate two different perturbation-based methods: 1) a well-known classical extremum seeking scheme for steady-state output optimization, and 2) a…
We present an iterative approach for planning and controlling motions of underactuated robots with uncertain dynamics. At its core, there is a learning process which estimates the perturbations induced by the model uncertainty on the active…
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…
Underactuated systems pose the challenge of being able to control a plant whose degrees of freedom are not necessarily directly linked to an actuator or where such a relationship is not straightforward. Rotary inverted pendulum is an…
The recently introduced structured input-output analysis is a powerful method for capturing nonlinear phenomena associated with incompressible flows, and this paper extends that method to the compressible regime. The proposed method relies…
The attitude stabilization of a micro-satellite employing a variable-amplitude cold gas thruster which reflects as a time varying gain on the control input is considered. Existing literature uses a persistence filter based approach that…
We present the design and experimental validation of source seeking control algorithms for a unicycle mobile robot that is equipped with novel 3D-printed flexible graphene-based piezoresistive airflow sensors. Based solely on a local…
Sound source tracking is commonly performed using classical array-processing algorithms, while machine-learning approaches typically rely on precise source position labels that are expensive or impractical to obtain. This paper introduces a…
In this paper, the control problem for underactuated systems in the presence of external disturbances and model uncertainties is considered. An adaptive fuzzy sliding mode controller (AFSMC) is proposed to solve the problem, satisfying the…
This work presents a solution to the adaptive tracking control of Euler Lagrange systems with guaranteed tracking and parameter estimation error convergence. Specifically a concurrent learning based update rule fused by the filtered version…
Underactuated vehicles have gained much attention in the recent years due to the increasing amount of aerial and underwater vehicles as well as nanosatellites. Trajectory tracking control of these vehicles is a substantial aspect for an…
Since forced oscillations are exogenous to dynamic power system models, the models by themselves cannot predict when or where a forced oscillation will occur. Locating the sources of these oscillations, therefore, is a challenging problem…
This paper derives nonlinear feedback control synthesis for general control affine systems using second-order actions---the needle variations of optimal control---as the basis for choosing each control response to the current state. A…
This paper investigates the trajectory tracking problem of underactuated marine vessels within a polar coordinate framework. By introducing two polar coordinate transformations (PCTs), the original two-input-three-output second-order…
All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…
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…
Collocated adaptive control of underactuated systems is still a main concern for the control community, all the more so because the collocated dynamics is no longer linear with respect to the constant base parameters. This work extends and…