Related papers: A New Approach to Adaptive Nonlinear Regulation
In this paper, a novel adaptive optimal control strategy is proposed to achieve the cooperative optimal output regulation of continuous-time linear multi-agent systems based on adaptive dynamic programming (ADP). The proposed method is…
We present a method to obtain a data-driven Koopman operator-based model that adapts itself during operation and can be straightforwardly used for the controller and observer design. The adaptive model is able to accurately describe…
Various methods are nowadays available to design observers for broad classes of systems. Nevertheless, the question of the tuning of the observer to achieve satisfactory estimation performance remains largely open. This paper presents a…
The paper proposes an adaptive observer of the state vector of a nonlinear time varying system based on measurements of the output variable. The problem is solved under the assumption that the control matrix (vector) and the nonlinear…
For nonlinear analytic control systems, we introduce a new paradigm for dynamic output feedback stabilization. We propose to periodically sample the usual observer based control law, and to reshape it so that it coincides with a ''control…
The problem under consideration is the synthesis of a distributed controller for a nonlinear network composed of input affine systems. The objective is to achieve exponential convergence of the solutions. To design such a feedback law,…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
Recently, a new approach to the adaptive control of linear time-invariant plants with unknown parameters (referred to as second level adaptation), was introduced by Han and Narendra in [1]. Based on $N (\geq m+1)$ fixed or adaptive models…
A unified solution to adaptive approximation-based control for nonlinear systems with accurate and inaccurate state measurement is synthesized in this study. Starting from the standard adaptive approximation-based controller with accurate…
Differential balancing theory for nonlinear model reduction relies on differential controllability and observability functions. In this paper, we further investigate them from two different perspectives. First, we establish novel…
For general nonlinear control systems we present a novel approach to adaptive control, which employs a certainty equivalence (indirect) control law and an identifier with event-triggered updates of the plant parameter estimates, where the…
This paper describes the design process for developing a nonlinear model predictive controller for fault tolerant flight control. After examining and implementing a number of numerical techniques, this paper identifies pseudospectral…
In this paper, we present a data-driven output feedback controller for nonlinear systems that achieves practical output regulation, using noise-free input/output measurement data. The proposed controller is based on (i) an inverse model of…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
In this paper we propose a new observer design technique for nonlinear systems. It combines the well-known Kazantzis-Kravaris-Luenberger observer and the recently introduced parameter estimation-based observer, which become special cases of…
We present a novel approach for learning nonlinear dynamic models, which leads to a new set of tools capable of solving problems that are otherwise difficult. We provide theory showing this new approach is consistent for models with long…
In this paper a new framework has been applied to the design of controllers which encompasses nonlinearity, hysteresis and arbitrary density functions of forward models and inverse controllers. Using mixture density networks, the…
We present three dynamic error feedback controllers for robust output regulation of regular linear systems. These controllers are (i) a minimal order robust controller for exponentially stable systems (ii) an observer-based robust…
We present a new direct adaptive control approach for nonlinear systems with unmatched and matched uncertainties. The method relies on adjusting the adaptation gains of individual unmatched parameters whose adaptation transients would…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…