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The paper deals with the design of nonlinear adaptive cruise controllers for vehicular platoons operating on an open road or a ring-road. The constructed feedback controllers are nonlinear functions of the distance between successive…
This paper presents a new improved nonlinear tracking differentiator (INTD) with hyperbolic tangent function in the state space system. The stability and convergence of the INTD are thoroughly investigated and proved. Through the error…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…
A robust entry guidance law without drag rate measurement is designed for drag-tracking in this paper. The bank angle is regarded as the control variable. First, a state feedback guidance law (bank angle magnitude) that requires the drag…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
This paper introduces a continuous-time constrained nonlinear control scheme which implements a model predictive control strategy as a continuous-time dynamic system. The approach is based on the idea that the solution of the optimal…
This paper presents a new model-based algorithm that computes predictive optimal controls on-line and in closed loop for traditionally challenging nonlinear systems. Examples demonstrate the same algorithm controlling hybrid impulsive,…
Tracking control has been a vital research topic in robotics. This paper presents a novel hybrid control strategy for an unmanned underwater vehicle (UUV) based on a bioinspired neural dynamics model. An enhanced backstepping kinematic…
Funnel control achieves output tracking with guaranteed tracking performance for unknown systems and arbitrary reference signals. In particular, the tracking error is guaranteed to satisfy time-varying error bounds for all times (it evolves…
We consider nonlinear control systems for which there exist some structural obstacles to the design of classical continuous stabilizing feedback laws. More precisely, it is studied systems for which the backstepping tool for the design of…
In this paper, adaptive neural control (ANC) is investigated for a class of strict-feedback nonlinear stochastic systems with unknown parameters, unknown nonlinear functions and stochastic disturbances. The new controller of adaptive neural…
We propose a general strategy for feedback control design of complex dynamical systems exploiting the nonlinear mechanisms in a systematic unsupervised manner. These dynamical systems can have a state space of arbitrary dimension with…
In recent years, Neural Networks (NNs) have been employed to control nonlinear systems due to their potential capability in dealing with situations that might be difficult for conventional nonlinear control schemes. However, to the best of…
The general objective of this Ph.D. thesis is to study the dynamics and control of rigid and flexible spacecraft supported by a high-fidelity numerical simulation environment. The demand for greater attitude pointing precision, attitude…
The aim of this work is to compute a level backstepping control strategy for a coupled tanks system. The coupled tanks plant is a component included in the water treatment system of power plants. The nonlinear-model of the process was…
Advanced feedforward control methods enable mechatronic systems to perform varying motion tasks with extreme accuracy and throughput. The aim of this paper is to develop a data-driven feedforward controller that addresses input…
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…
In this paper, we consider controlling a class of single-input-single-output (SISO) commensurate fractional-order nonlinear systems with parametric uncertainty and external disturbance. Based on backstepping approach, an adaptive controller…
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…
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…