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This study proposes a feedback linearisation based on the back-stepping method with simple implementation and unique design process to design a non-linear controller with a goal of improving both steady-state and transient stability. The…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
The paper describes a receding horizon control design framework for continuous-time stochastic nonlinear systems subject to probabilistic state constraints. The intention is to derive solutions that are implementable in real-time on…
The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted…
Novel nonlinear damping control is proposed for the second-order systems. The proportional output feedback is combined with the damping term which is quadratic to the output derivative and inverse to the set-point distance. The global…
In the present work, we consider nonlinear control systems for which there exist structural obstacles to the design of classical continuous backstepping feedback laws. We conceive feedback laws such that the origin of the closed-loop system…
We present a novel technique to drive a nonlinear system to reach a target state under input constraints. The proposed controller consists only of piecewise constant inputs, generated from a simple linear driftless approximation to the…
Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking…
In real-world control applications, actuator constraints and output constraints (specifically in tracking problems) are inherent and critical to ensuring safe and reliable operation. However, generally, control strategies often neglect…
A control design approach is developed for a general class of uncertain strict-feedback-like nonlinear systems with dynamic uncertain input nonlinearities with time delays. The system structure considered in this paper includes a nominal…
This paper investigates event-triggered consensus tracking in nonlinear semi-strict-feedback multi-agent systems involving one leader and multiple followers. We first employ radial basis function neural networks and backstepping techniques…
In this work, we consider the adaptive nonlinear control problem for strict feedback nonlinear systems, where the functions that determine the dynamics of the system are completely unknown. We assume that certain upper bounds for the…
This paper deals with the stabilization problem for nonlinear control-affine systems with the use of oscillating feedback controls. We assume that the local controllability around the origin is guaranteed by the rank condition with Lie…
This paper investigates gradient-based adaptive prediction and control for nonlinear stochastic dynamical systems under a weak convexity condition on the prediction-based loss. This condition accommodates a broad range of nonlinear models…
This paper presents a nonlinear model predictive control strategy for stochastic systems with general (state and input dependent) disturbances subject to chance constraints. Our approach uses an online computed stochastic tube to ensure…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
Backstepping is a mature and powerful Lyapunov-based design approach for a specific set of systems. Throughout the development over three decades, innovative theories and practices have extended backstepping to stabilization and tracking…
This paper deals with a nonlinear adaptive autopilot design for agile missile systems. In advance of the autopilot design, an investigation of the agile turn maneuver, based on the trajectory optimization, is performed to determine state…
The capability to autonomously track a non-cooperative target is a key technological requirement for micro aerial vehicles. In this paper, we propose an output feedback control scheme based on deep reinforcement learning for controlling a…
We address the problem of output reference tracking for unknown nonlinear multi-input, multi-output systems with relative degree two and bounded-input bounded-state (BIBS) stable internal dynamics. We propose a novel model-free adaptive…