Related papers: Adaptive Tracking Control of Euler-Lagrange System…
This paper derives sufficient conditions for bounded distributed connectivity-preserving coordination of Euler-Lagrange systems with only position measurements and with system uncertainties, respectively. The paper proposes two strategies…
This work presents an innovative learning-based approach to tackle the tracking control problem of Euler-Lagrange multi-agent systems with partially unknown dynamics operating under switching communication topologies. The approach leverages…
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)…
This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a strict-feedback structure with unknown parameters entering both…
This work proposes a new adaptive-robust control (ARC) architecture for a class of uncertain Euler-Lagrange (EL) systems where the upper bound of the uncertainty satisfies linear in parameters (LIP) structure. Conventional ARC strategies…
This paper investigates the finite-time adaptive fuzzy tracking control problem for a class of pure-feedback system with full-state constraints. With the help of Mean-Value Theorem, the pure-feedback nonlinear system is transformed into…
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…
It is an interesting open problem to achieve adaptive prescribed-time control for strict-feedback systems with unknown and fast or even abrupt time-varying parameters. In this paper we present a solution with the aid of several design and…
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 published paper investigates the distributed tracking control problem for a class of Euler-Lagrange multi-agent systems when the agents can only measure the positions. In this case, the lack of the separation principle and the strong…
This paper proposes a robust model reference adaptive controller (MRAC) for uncertain multi-input multi-output (MIMO) linear time-invariant (LTI) plants with user-defined constraints on the plant states, input amplitude, and input rate. The…
Solving optimal control problems to determine a stabilizing controller involves a significant computational effort. Time-varying optimal control provides a remedy by designing a tracking system, given as an ordinary differential equation,…
This paper studies safety-critical control for nonlinear systems under sampled-data implementations of the controller. The recently proposed Taylor--Lagrange Control (TLC) method provides rigorous safety guarantees but relies on a fixed…
Satisfaction of state and input constraints is one of the most critical requirements in control engineering applications. In classical model reference adaptive control (MRAC) formulation, although the states and the input remain bounded,…
This paper addresses the stabilization of linear systems with multiple time-varying input delays. In scenarios where neither the exact delays information nor their bound is known, we propose a class of linear time-varying state feedback…
In this paper, we study the leader-following consensus problem of multiple Euler-Lagrange systems subject to an uncertain leader system. We first establish an adaptive distributed observer for a neutrally stable linear leader system whose…
In this paper, we present Lyapunov-based {\color{black}time varying} controllers for {\color{black}fast} stabilization of a perturbed chain of integrators with bounded uncertainties. We refer to such controllers as {\color{black}time…
In this paper, an adaptive controller is designed for the synchronization of the trajectory of a robot with unknown kinematics and dynamics to that of the current human trajectory in the task space using the delayed human trajectory…
This paper presents a novel adaptive control methodology for uncertain systems with time-varying unknown parameters and time-varying bounded disturbance. The adaptive controller ensures uniformly bounded transient and asymptotic tracking…
We present the stability analysis for the new regulation-triggered approach to adaptive control introduced in a companion paper. Due to the fact that the closed-loop system is hybrid, our proofs have essential differences from the…