Related papers: Adaptive Tracking Control of Uncertain Euler-Lagra…
This paper proposes a family of finite-time controllers for the bilateral teleoperation of fully actuated nonlinear Euler-Lagrange systems. Based on the energy-shaping framework and under the standard assumption of passive interactions with…
This paper is concerned with the robust tracking control of linear uncertain systems, whose unknown system parameters and disturbances are bounded within ellipsoidal sets. We propose an adaptive robust control that can actively learn the…
This paper studies safety-critical control for nonlinear systems under sampled-data implementations of the controller. The recently proposed Taylor--Lagrange Control (TLC) method provides rigorous safety guarantees but relies on a fixed…
This paper presents a low-complexity, model-free, output-feedback controller for a class of unknown time-varying nonlinear systems with unknown input constraints. The controller achieves the preset control accuracy when the actuator is not…
This paper addresses the problem of asymptotic tracking for high-order control-affine MIMO nonlinear systems with unknown dynamic terms subject to input and transient state constraints. We introduce Barrier Integral Control (BRIC), a novel…
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet…
Providing safety guarantees for learning-based controllers is important for real-world applications. One approach to realizing safety for arbitrary control policies is safety filtering. If necessary, the filter modifies control inputs to…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
State and input constraints are ubiquitous in all engineering systems. In this article, we derive adaptive controllers for uncertain linear systems under pre-specified state and input constraints. Several modifications of the model…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
In this paper, constrained parameter update laws for adaptive control with convex equality constraint on the parameters are developed, one based on a gradient only update and the other incorporating concurrent learning (CL) update. The…
This letter presents a new intelligent control scheme for the accurate trajectory tracking of flexible link manipulators. The proposed approach is mainly based on a sliding mode controller for underactuated systems with an embedded…
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…
This paper studies the problem of utilizing data-driven adaptive control techniques to guarantee stability and safety of uncertain nonlinear systems with high relative degree. We first introduce the notion of a High Order Robust Adaptive…
In this paper, an adaptive controller is designed for the synchronization of the trajectory of a robot with unknown kinematics and dynamics to that of the current human trajectory in the task space using the delayed human trajectory…
This paper addresses the problem of formation control and tracking a of desired trajectory by an Euler-Lagrange multi-agent systems. It is inspired by recent results by Qingkai et al. and adopts an event-triggered control strategy to reduce…
This paper addresses the trajectory-tracking problem for discrete-time linear time-invariant systems with bounded parametric uncertainty, subject to hard constraints on system states, control inputs, and input rates. Unlike existing…
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 addresses reinforcement learning based, direct signal tracking control with an objective of developing mathematically suitable and practically useful design approaches. Specifically, we aim to provide reliable and easy to…
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…