Related papers: Adaptive output feedback tracking control for bili…
An output feedback model predictive control (MPC) framework with adaptive tubes is proposed for linear time-invariant systems subject to parametric and additive uncertainties. An adaptive observer provides point estimates of the system…
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…
Recently, adaptive control systems with relaxed persistent excitation (PE) conditions have been proposed to guarantee true parameter convergence and improve the transient response. However, in some cases, sufficient control performance and…
We establish a separation principle for the output feedback stabilisation of state-affine systems that are observable at the stabilization target. Relying on control templates (recently introduced in [4]), that allow to approximate a…
In this note, we develop an adaptive observer for a class of nonlinear systems with switched unknown parameters to estimate the states and parameters simultaneously. The main challenge lies in how to eliminate the disturbance effect of…
This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…
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…
We study in this paper the problem of iterative feedback gains tuning for a class of nonlinear systems. We consider Input-Output linearizable nonlinear systems with additive uncertainties. We first design a nominal Input-Output…
In this paper, we present a state-feedback controller design method for bilinear systems. To this end, we write the bilinear system as a linear fractional representation by interpreting the state in the bilinearity as a structured…
A new adaptive observer is proposed for a certain class of nonlinear systems with bounded unknown input and parametric uncertainty. Unlike most existing solutions, the proposed approach ensures asymptotic convergence of the unknown…
Adaptive cooperative tracking control with prescribed performance function (PPF) is proposed for high-order nonlinear multi-agent systems. The tracking error originally within a known large set is confined to a smaller predefined set using…
Model predictive control (MPC) for uncertain systems in the presence of hard constraints on state and input is a non-trivial problem, and the challenge is increased manyfold in the absence of state measurements. In this paper, we propose an…
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 proposes an output feedback controller capable of ensuring steady-state offset-free tracking for ramp and sinusoidal reference signals while ensuring local stability and state and input constraints fulfillment. The proposed…
This paper deals with the backstepping design of observer-based compensators for parabolic ODE-PDE-ODE systems. The latter consist of n coupled parabolic PDEs with distinct diffusion coefficients and spatially-varying coefficients, that are…
We address the problem of dynamic output feedback stabilization at an unobservable target point. The challenge lies in according the antagonistic nature of the objective and the properties of the system: the system tends to be less…
This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classical discrete-time retrospective cost adaptive control…
The paper proposes an adaptive observer of the state vector of a nonlinear time varying system based on measurements of the output variable. The problem is solved under the assumption that the control matrix (vector) and the nonlinear…
This paper develops some extensions to the work of [1] which studied the continuous-time adaptive output tracking control schemes with the reference output signal generated from an unknown reference model system. The presented extensions…
We study output reference tracking of systems with high relative degree via output feedback only; this is, tracking where the output derivatives are unknown. To this end, we prove that the conjunction of the funnel pre-compensator with a…