Related papers: Prescribed Performance Control of Unknown Euler-La…
This paper presents a prescribed performance-based tracking control strategy for the atmospheric reentry flight of space vehicles subject to rapid maneuvers during flight mission. A time-triggered non-monotonic performance funnel is…
This paper proposes a funnel control method under time-varying hard and soft output constraints. First, an online funnel planning scheme is designed that generates a constraint consistent funnel, which always respects hard (safety)…
This paper considers the tracking control problem for an unknown nonlinear system with time-varying bounded disturbance subjected to a prescribed performance and input constraints. When performance and input constraints are specified…
This paper proposes a novel control architecture for state and input constrained Euler-Lagrange (E-L) systems with parametric uncertainties. A simple saturated controller is strategically coupled with a Barrier Lyapunov Function (BLF) based…
We consider tracking control for uncertain linear systems with known relative degree which are possibly non-minimum phase, i.e., their zero dynamics may have an unstable part. For a given sufficiently smooth reference signal we design a…
Perfect tracking control for real-world Euler-Lagrange systems is challenging due to uncertainties in the system model and external disturbances. The magnitude of the tracking error can be reduced either by increasing the feedback gains or…
This paper proposes an adaptive tracking controller for uncertain Euler-Lagrange (E-L) systems with user-defined state and input constraints in presence of bounded external disturbances. A barrier Lyapunov function (BLF) is employed for…
We study tracking control for uncertain nonlinear multi-input, multi-output systems modelled by $r$-th order functional differential equations (encompassing systems with arbitrary strict relative degree) in the presence of input…
This paper introduces a class of time-varying controllers for Euler-Lagrange systems such that the convergence occurs at an arbitrary finite time, independently of initial conditions, and free of chattering. The proposed controller is based…
We propose a novel feedback controller for a class of uncertain higher-order nonlinear systems, subject to delays in both state measurement and control input signals. Building on the prescribed performance control framework, a…
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…
The synthesis of a smooth tracking control for Euler-Lagrangian (EL) systems under stringent state, input, and temporal (SIT) constraints is challenging. In contrast to existing methods that utilize prior knowledge of EL model parameters…
This work proposes a force control strategy with prescribed transient performance for the legs of a wheel-legged robotic system to realize the posture adjustment on uneven roads. A dynamic model of the robotic system is established with the…
We present an improvement of a recent funnel controller design for uncertain nonlinear multi-input, multi-output systems modeled by higher order functional differential equations in the presence of input constraints. The objective is to…
Output reference tracking of unknown nonlinear systems is considered. The control objective is exact tracking in predefined finite time, while in the transient phase the tracking error evolves within a prescribed boundary. To achieve this,…
This paper presents an adaptive control framework for Euler-Lagrange (E-L) systems that enforces user-defined time-varying state and input constraints in the presence of parametric uncertainties and bounded disturbances. The proposed design…
We propose a novel symbolic control framework for enforcing temporal logic specifications in Euler-Lagrange systems that addresses the key limitations of traditional abstraction-based approaches. Unlike existing methods that require exact…
This article proposes a periodic event-triggered adaptive barrier control policy for the trajectory tracking problem of perturbed Euler-Lagrangian systems with state, input, and temporal (SIT) constraints. In particular, an…
Adaptive fuzzy control strategies are established to achieve global prescribed performance with prescribed-time convergence for strict-feedback systems with mismatched uncertainties and unknown nonlinearities. Firstly, to quantify the…
We consider output trajectory tracking for a class of uncertain nonlinear systems whose internal dynamics may be modelled by infinite-dimensional systems which are bounded-input, bounded-output stable. We describe under which conditions…