Related papers: Adaptive Control of Unknown Pure Feedback Systems …
This paper presents an adaptive tracking control method for a class of nonlinearly parameterized MIMO dynamic systems with time-varying delay and unknown nonlinear dead-zone inputs. A new high dimensional integral Lyapunov-Krasovskii…
This article deals with the implementation of the Smith Predictor for state feedback control in state space representation. The desired control law, obtained using partial differential equations and backstepping control, contains an…
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…
Lyapunov stability theory is the bedrock of direct adaptive control. Fundamentally, Lyapunov stability requires constructing a distance-like function which must decrease with time to ensure stability. Feedback linearization, backstepping,…
Although deep neural network (DNN)-based controllers are popularly used to control uncertain nonlinear dynamic systems, most results use DNNs that are pretrained offline and the corresponding controller is implemented post-training. Recent…
Designing a static state-feedback controller subject to structural constraint achieving asymptotic stability is a relevant problem with many applications, including network decentralized control, coordinated control, and sparse feedback…
The stable combination of optimal feedback policies with online learning is studied in a new control-theoretic framework for uncertain nonlinear systems. The framework can be systematically used in transfer learning and sim-to-real…
In this paper, we develop a novel and simple adaptive control scheme for a one-dimensional unstable heat equation with unknown control coefficient. A new state observer is designed to estimate the system state, while a new update law is…
We present the stability analysis for the new regulation-triggered approach to adaptive control introduced in a companion paper. Due to the fact that the closed-loop system is hybrid, our proofs have essential differences from 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 presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…
This paper investigates the decentralized stabilization problem for a class of interconnected systems in the presence of non-triangular structural uncertainties and time-varying parameters, where each subsystem exchanges information only…
We consider the problem of discounted optimal state-feedback regulation for general unknown deterministic discrete-time systems. It is well known that open-loop instability of systems, non-quadratic cost functions and complex nonlinear…
We present a novel technique for solving the problem of safe control for a general class of nonlinear, control-affine systems subject to parametric model uncertainty. Invoking Lyapunov analysis and the notion of fixed-time stability (FxTS),…
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…
This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbance. The adaptive controller ensures uniformly bounded transient and asymptotic tracking…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…
A continuous adaptive control design is developed for nonlinear dynamical systems with linearly parameterizable uncertainty involving time-varying uncertain parameters. The key feature of this design is a robust integral of the sign of the…