相关论文: Adaptation is Unnecessary in L1-"Adaptive" Control

Humans and animals developed a sophisticated motor control apparatus and there is much evidence that it has a modular structure. The modularity offers a range of benefits, e.g. ability to learn dissociable motion styles without interference…

In this paper, a resilient controller is designed for the linear time-invariant (LTI) systems subject to attacks on the sensors and the actuators. A novel probabilistic attack model is proposed to capture vulnerabilities of the…

The synthesis of adaptive gain-scheduling controller is discussed for continuous-time linear models characterized by polytopic uncertainties. The proposed approach computes the control law assuming the parameters as uncertain and adaptively…

Embedded systems are becoming more in demand to work in dynamic and uncertain environments, and being confined to the strong requirements of real-time. Conventional static scheduling models usually cannot cope with runtime modification in…

This paper investigates the consensus problem of multiple uncertain Lagrangian systems. Due to the discontinuity resulted from the switching topology, achieving consensus in the context of uncertain Lagrangian systems is challenging. We…

Model-free approaches for reinforcement learning (RL) and continuous control find policies based only on past states and rewards, without fitting a model of the system dynamics. They are appealing as they are general purpose and easy to…

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…

Feedback-based control is the de-facto standard when it comes to controlling classical stochastic systems and processes. However, standard feedback-based control methods are challenged by quantum systems due to measurement induced…

The key challenges in design of predictor-based control laws for switched systems with arbitrary switching and long input delay are the potential unavailability of the future values of the switching signal (at current time) and the fact…

Voltage stability is a critical feature of an efficiently operating power distribution system such as a DC islanded microgrid. Large-scale autonomous power systems can be defined by heterogeneous elements, uncertainty and changing…

The Laplace transform theory violates a very fundamental requirement of all engineering systems. We show that this theory assumes that all signals must exist over infinite time interval. Since in engineering this infinite time assumption is…

We consider the problem of online control of systems with time-varying linear dynamics. This is a general formulation that is motivated by the use of local linearization in control of nonlinear dynamical systems. To state meaningful…

The update law in the indirect adaptive control scheme can be extended to include feedthrough of an error term. This reduces undesired oscillations of the calculated weights. When the ${\sigma}$-modification is used for achieving robustness…

To promote structurally flexible controllers in self-adaptive software systems, this paper proposes the use of micro-controllers. Instead of generic monolithic controllers, like Rainbow, we advocate the use of service-specific…

State and input constraints are ubiquitous in all engineering systems. In this article, we derive adaptive controllers for uncertain linear systems under pre-specified state and input constraints. Several modifications of the model…

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…

We propose a novel adaptive reinforcement learning control approach for fault tolerant control of degrading systems that is not preceded by a fault detection and diagnosis step. Therefore, \textit{a priori} knowledge of faults that may…

In this paper, a new control scheme, called as additive-decomposition-based tracking control, is proposed to solve the output feedback tracking problem for a class of systems with measurable nonlinearities and unknown disturbances. By the…

Current model-free adaptive control (MFAC) can hardly deal with the time delay problem in multiple-input multiple-output (MIMO) systems. To solve this problem, a novel model-free adaptive predictive control (MFAPC) method is proposed.…

We are introducing a model-free control and a control with a restricted model for finite-dimensional complex systems. This control design may be viewed as a contribution to "intelligent" PID controllers, the tuning of which becomes quite…