相关论文: $\mathcal{L}_1$ Adaptive Control for Switching Ref…

In this paper we present a direct adaptive control method for a class of uncertain nonlinear systems with a time-varying structure. We view the nonlinear systems as composed of a finite number of ``pieces,'' which are interpolated by…

We propose a reference-free learning model predictive controller for periodic repetitive tasks. We consider a problem in which dynamics, constraints and stage cost are periodically time-varying. The controller uses the closed-loop data to…

Feedforward control can greatly improve the response time and control accuracy of any mechatronic system. However, in order to compensate for the effects of modeling errors or disturbances, it is imperative that this type of control works…

This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…

In this paper an adaptive load management system that uses predictive control optimization is introduced. This price elastic system is able to optimize the consumption of power and is fully autonomous and responsive to market clearing…

Adaptive control strategies have progressively advanced to accommodate increasingly uncertain, delayed, and interconnected systems. This paper addresses the model reference adaptive control (MRAC) of networked, heterogeneous, and unknown…

This paper proposes an adaptive human pilot model that is able to mimic the crossover model in the presence of uncertainties. The proposed structure is based on the model reference adaptive control, and the adaptive laws are obtained using…

We study feedback control for discrete-time linear time-invariant systems in the presence of quantization both in the control action and in the measurement of the controlled variable. While in some application the quantization effects can…

Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…

This thesis presents fuzzy-L1 adaptive controller and Model Reference Adaptive Control (MRAC) with Prescribed Performance Function (PPF) as two adaptive approaches for high nonlinear systems as two original contribution to the literature.…

We propose a certainty-equivalence scheme for adaptive control of scalar linear systems subject to additive, i.i.d. Gaussian disturbances and bounded control input constraints, without requiring prior knowledge of the bounds of the system…

Controlling of a flapping flight is one of the recent research topics related to the field of Flapping Wing Micro Air Vehicle (FW MAV). In this work, an adaptive control system for a four-wing FW MAV is proposed, inspired by its advanced…

This article presents an adaptive Super-Twisting Sliding Mode Control framework for uncertain first-order systems, with rate-bounded perturbations, where the bound is constant but unknown. Positive definite barrier functions, when used in…

An architectural approach to self-adaptive systems involves runtime change of system configuration (i.e., the system's components, their bindings and operational parameters) and behaviour update (i.e., component orchestration). Thus,…

The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…

Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode…

Many cyber-physical systems can naturally be formulated as switched systems with constrained switching. This includes systems where one of the signals in the feedback loop may be lost. Possible sources for losses are shared or unreliable…

We provide a method to design adaptive controllers for nonlinear systems using model predictive control (MPC). By combining a certainty-equivalent MPC formulation with least-mean-square parameter adaptation, we obtain an adaptive controller…

In this paper, we study the quadrotor UAV attitude control on SO(3) in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles/quaternions is shown to exhibit robustness and precise…

Ensuring the frequency stability of electric grids with increasing renewable resources is a key problem in power system operations. In recent years, a number of advanced controllers have been designed to optimize frequency control. These…