Related papers: Online ResNet-Based Adaptive Control for Nonlinear…
A novel tracking paradigm for flying geometric trajectories using tethered kites is presented. It is shown how the differential-geometric notion of turning angle can be used as a one-dimensional representation of the kite trajectory, and…
An adaptive funnel control method is considered for the regulation of the output for a class of nonlinear infinite-dimensional systems on real Hilbert spaces. After a decomposition of the state space and some change of variables related to…
This brief paper further investigates the locally and globally adaptive synchronization of an uncertain complex dynamical network. Several network synchronization criteria are deduced. Especially, our hypotheses and designed adaptive…
This paper studies the problem of real-time fault recovery control for nonlinear control-affine systems subject to actuator loss of effectiveness faults and external disturbances. We derive a two-stage framework that combines causal…
In this paper the application of Virtual Reference Feedback Tuning (VRFT) for control of nonlinear systems with regulators defined by Echo State Networks (ESN) and Long Short Term Memory (LSTM) networks is investigated. The capability of…
In response to the continuously changing feedstock supply and market demand for products with different specifications, the processes need to be operated at time-varying operating conditions and targets (e.g., setpoints) to improve the…
We present a prescriptive framework for the event-triggered control of nonlinear systems. Rather than closing the loop periodically, as traditionally done in digital control, in event-triggered implementations the loop is closed according…
In this paper, the tracking control problem of a class of uncertain Euler-Lagrange systems subjected to unknown input delay and bounded disturbances is addressed. To this front, a novel delay dependent control law, referred as Adaptive…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
The design of tracking controllers that closely follow a reference trajectory while ensuring safety and robustness against disturbances is a challenging problem in the control of autonomous systems. In this work, we propose a neural…
While ensuring stability for linear systems is well understood, it remains a major challenge for nonlinear systems. A general approach in such cases is to compute a combination of a Lyapunov function and an associated control policy.…
Vision-based locomotion in outdoor environments presents significant challenges for quadruped robots. Accurate environmental prediction and effective handling of depth sensor noise during real-world deployment remain difficult, severely…
This work proposes a robust data-driven predictive control approach for unknown nonlinear systems in the presence of bounded process and measurement noise. Data-driven reachable sets are employed for the controller design instead of using…
In this work we present a nonlinear adaptive suboptimal control strategy for uncertain nonlinear systems. Stochastic parametric uncertainty is dealt with by employing spectral decomposition of the random variables by means of the…
This paper presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…
An adaptive controller with bounded l2-gain from disturbances to errors is derived for linear time-invariant systems with uncertain parameters restricted to a finite set. The gain bound refers to the closed loop system, including the…
This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a novel control scheme to handle distance constraints imposed…
This paper studies the immersion and invariance (I&I) adaptive tracking problem for a class of nonlinear systems with nonlinear parameterization in the ISS framework. Under some mild assumptions, a novel I&I adaptive control algorithm is…
We address a distributed adaptive control methodology for nonlinear interconnected systems possibly affected by network anomalies. In the framework of adaptive approximation, the distributed controller and parameter estimator are designed…
We consider adaptive control problem in presence of nonlinear parametrization of uncertainties in the model. It is shown that despite traditional approaches require for domination in the control loop during adaptation, it is not often…