Related papers: Continuous-Time Output Feedback Adaptive Control f…
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…
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…
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…
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…
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…
This note presents the design and analysis of an adaptive controller for a class of linear plants in the presence of output feedback. This controller makes use of a closed-loop reference model as an observer, and guarantees global stability…
This paper considers real-time control and learning problems for finite-dimensional linear systems under binary-valued and randomly disturbed output observations. This has long been regarded as an open problem because the exact values of…
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…
This paper modifies an adaptive multicopter autopilot to mitigate instabilities caused by adaptive parameter drift and presents simulation and experimental results to validate the modified autopilot. The modified adaptive controller is…
The study addresses the problem of quadcopter motion control using output feedback. By applying a geometric approach, the quadcopter model is transformed into a normal form with a time-varying gain coefficient, which is subsequently made…
This paper proposes a composite adaptive control architecture using dual adaptation scheme for dynamical systems comprising time-varying uncertain parameters. While majority of the adaptive control schemes in literature address the case of…
Under the multi-objective framework, this paper presents a hybrid algorithm to solve robust static output feedback control problem for continuous poly-topic uncertain system. To obtain static output feedback gain, a new hybrid algorithm is…
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…
The stabilization of unstable nonlinear systems and tracking control are challenging engineering problems due to the encompassed nonlinearities in dynamic systems and their scale. In the past decades, numerous observer-based control designs…
The attitude control of a spacecraft is integral to achieving mission success. However, failures in actuators such as reaction wheels are detrimental and can often lead to an early end of mission. We propose a Lyapunov-based adaptive…
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 presents a dual receding horizon output feedback controller for a general non linear stochastic system with imperfect information. The novelty of this controller is that stabilization is treated, inside the optimization problem,…
A novel adaptive control approach is proposed to solve the globally asymptotic state stabilization problem for uncertain pure-feedback nonlinear systems which can be transformed into the pseudo-affine form. The pseudo-affine pure-feedback…
The paper develops a singularity-free backstepping-based adaptive control for stabilizing and tracking the trajectory of a bicopter system. In the bicopter system, the inertial parameters parameterize the input map. Since the classical…
In adaptive control, a controller is precisely designed for a certain model of the system, but that model's parameters are updated online by another mechanism called the adaptive update. This allows the controller to aim for the benefits of…