Related papers: A Discrete-Time Least-Squares Adaptive State Track…
This paper develops a new control framework for linear parameter-varying (LPV) systems with time-varying state delays by integrating parameter-dependent Lyapunov functions with integral quadratic constraints (IQCs). A novel delay-dependent…
In robot localisation and mapping, outliers are unavoidable when loop-closure measurements are taken into account. A single false-positive loop-closure can have a very negative impact on SLAM problems causing an inferior trajectory to be…
This work presents the design and the corresponding stability analysis of a model based, joint position tracking error constrained, adaptive output feedback controller for robot manipulators. Specifically, provided that the initial joint…
Owing to uncertainties in both kinematics and dynamics, the current trajectory tracking framework for mobile robots like spherical robots cannot function effectively on multiple terrains, especially uneven and unknown ones. Since this is a…
Continuous-time adaptive controllers for systems with a matched uncertainty often comprise an online parameter estimator and a corresponding parameterized controller to cancel the uncertainty. However, such methods are often impossible to…
In this paper, a triggered Batch Least-Squares Identifier (BaLSI) based adaptive safety control scheme is proposed for uncertain systems with potentially conflicting control objectives and safety constraints. A relaxation term is added to…
This paper introduces an adaptive-neuro identification method that enhances the robustness of a centralized multi-quadrotor transportation system. This method leverages online tuning and learning on decomposed error subspaces, enabling…
In this paper, we consider the problem of minimum-time optimal control for a dynamical system with initial state uncertainties and propose a sequential convex programming (SCP) solution framework. We seek to minimize the expected terminal…
We propose a method for approximating solutions to optimization problems involving the global stability properties of parameter-dependent continuous-time autonomous dynamical systems. The method relies on an approximation of the…
We present an algorithm for computing sparse, least squares-based polynomial chaos expansions, incorporating both adaptive polynomial bases and sequential experimental designs. The algorithm is employed to approximate stochastic…
In this paper, a novel adaptive smooth disturbance observer-based fast finite-time adaptive backstepping control scheme is presented for the attitude tracking of the 3-DOF helicopter system subject to compound disturbances. First, an…
In this paper, we investigate the model reference adaptive control approach for uncertain piecewise affine systems with performance guarantees. The proposed approach ensures the error metric, defined as the weighted Euclidean norm of the…
Scalable multi-robot transition is essential for ubiquitous adoption of robots. As a step towards it, a computationally efficient decentralized algorithm for continuous-time trajectory optimization in multi-robot scenarios based upon model…
In this paper we present distributed and adaptive algorithms for motion coordination of a group of m autonomous vehicles. The vehicles operate in a convex environment with bounded velocity and must service demands whose time of arrival,…
In this paper an adaptive sliding mode control approach for a quadrotor stabilization and trajectory tracking is presented. The closed loop control consists of three parts; the first part is quadrotor altitude and attitude stabilization,…
In this paper we study the problem of driving an agent to an unknown source whose location is estimated in real-time by a recursive optimization algorithm. The optimization criterion is subject to a least-square cost function constructed…
The two main contributions of this paper are a proof of concept of the recent novel idea in the area of long-time average cost control, and a new method of overcoming the well-known difficulty of non-convexity of simultaneous optimization…
We consider numerical schemes for computing the linear response of steady-state averages of stochastic dynamics with respect to a perturbation of the drift part of the stochastic differential equation. The schemes are based on Girsanov's…
We demonstrate that time-delayed feedback control can be improved by adaptively tuning the feedback gain. This adaptive controller is applied to the stabilization of an unstable fixed point and an unstable periodic orbit embedded in a…
In this paper we consider trajectory tracking problem for robotic systems affected by unknown external perturbations. Considering possible solutions, we restrict our attention to composite adaptation, which, particularly, ensures parametric…