Related papers: Adaptive Control Allocation for Underactuated Time…
In controlling systems with large operating envelopes, it is often necessary to adjust the desired dynamics according to operating conditions. This paper presents a robust adaptive control architecture for linear parameter-varying (LPV)…
We propose a learning-based robust predictive control algorithm that compensates for significant uncertainty in the dynamics for a class of discrete-time systems that are nominally linear with an additive nonlinear component. Such systems…
In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened as Time-Delayed Adaptive Robust Control (TARC) is…
Modern aircraft are designed with redundant control effectors to cater for fault tolerance and maneuverability requirements. This leads to aircraft being over-actuated and requires control allocation schemes to distribute the control…
This paper investigates gradient-based adaptive prediction and control for nonlinear stochastic dynamical systems under a weak convexity condition on the prediction-based loss. This condition accommodates a broad range of nonlinear models…
In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the…
In this paper, near optimal tracking of a class of nonlinear systems is addressed. Adaptive (approximate) dynamic programming approach is used to calculate the optimal control in closed form. ADP (Adaptive (approximate) dynamic programming)…
This paper presents a computationally efficient robust model predictive control law for discrete linear time invariant systems subject to additive disturbances that may depend on the state and/or input norms. Despite the dependency being…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…
This paper presents a novel quaternion-based nonsingular control system for underactuated vertical-take-off and landing (VTOL) Unmanned Aerial Vehicles (UAVs). Position and attitude tracking is challenging regarding singularity and…
Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…
This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
We consider the problem of discounted optimal state-feedback regulation for general unknown deterministic discrete-time systems. It is well known that open-loop instability of systems, non-quadratic cost functions and complex nonlinear…
Driven by the flexible manufacturing trend in the process control industry and the uncertain nature of chemical process models, this article aims to achieve offset-free tracking for a family of uncertain nonlinear systems (e.g., using…
In this paper, we consider the problem of controlling an underactuated system in unknown, and potentially adversarial environments. The emphasis will be on autonomous aerial vehicles, modelled by Dubins dynamics. The proposed control law is…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…
This article develops variational integrators for a class of underactuated mechanical systems using the theory of discrete mechanics. Further, a discrete optimal control problem is formulated for the considered class of systems and…