相关论文: Adaptive Steering Control for Steer-by-Wire System…
We develop an input delay-compensating feedback law for linear switched systems with time-dependent switching. Because the future values of the switching signal, which are needed for constructing an exact predictor-feedback law, may be…
In this paper, the tracking control problem of an Euler-Lagrange system is addressed with regard to parametric uncertainties, and an adaptive-robust control strategy, christened Time-Delayed Adaptive Robust Control (TARC), is presented.…
Besides parametric uncertainties and disturbances, the unmodeled dynamics and time delay at the input are often present in practical systems, which cannot be ignored in some cases. This paper aims to solve output feedback tracking control…
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…
We study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violation of convex time-varying constraints, and (ii) bounded…
In many safety-critical control systems, possibly opposing safety restrictions and control performance objectives arise. To confront such a conflict, this letter proposes a novel methodology that embeds safety into stability of control…
This paper proposes a novel control architecture for state and input constrained Euler-Lagrange (E-L) systems with parametric uncertainties. A simple saturated controller is strategically coupled with a Barrier Lyapunov Function (BLF) based…
The safety-critical nature of adaptive cruise control (ACC) systems calls for systematic design procedures, e.g., based on formal methods or control barrier functions (CBFs), to provide strong guarantees of safety and performance under all…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
In this article, we develop a new adaptive event-triggered asymptotic control scheme for strict-feedback systems with fast time-varying parameters. To deal with time-varying parameters with unknown variation boundaries in the feedback path…
This paper presents a nonlinear control law for the stabilization of a fixed-wing UAV. Such controller solves the path-following problem and the longitudinal control problem in a single control. Furthermore, the control design is performed…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
Most modern control systems are switched, meaning they have continuous as well as discrete decision variables. Switched systems often have constraints called dwell-time constraints (e.g., cycling constraints in a heat pump) on the switching…
Time delays in feedback control loops can cause controllers to respond too late, and with excessively large corrective actions, leading to unsafe behavior (violation of state constraints) and controller infeasibility (violation of input…
We develop a new approach to robust adaptive beamforming in the presence of signal steering vector errors. Since the signal steering vector is known imprecisely, its presumed (prior) value is used to find a more accurate estimate of the…
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…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
This paper investigates the finite time stabilization problem for a class of nonlinear systems with unknown control directions and unstructured uncertainties. The unstructured uncertainties indicate that not only the parameters but also the…
Firstly, a new state feedback model reference adaptive control approach is developed for uncertain systems with gain scheduled reference models in a multi-input multi-output (MIMO) setting. Specifically, adaptive state feedback for output…
Development of control algorithms for enhancing performance in safety-critical systems such as the Autonomous Emergency Braking system (AEB) is an important issue in the emerging field of automated electric vehicles. In this study, we…