相关论文: Non-Linear Dynamic Inversion with Actuator Dynamic…

Critical systems must be designed resilient to all kinds of malfunctions. We are especially interested by the loss of control authority over actuators. This malfunction considers actuators producing uncontrolled and possibly undesirable…

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 article focuses on the globally composite adaptive law-based intelligent finite-/fixed- time (FnT/FxT) tracking control issue for a family of uncertain strict-feedback nonlinear systems. First, intelligent approximators with new…

Path tracking (PT) controllers capable of replicating race driving techniques, such as drifting beyond the limits of handling, have the potential of enhancing active safety in critical conditions. This paper presents a nonlinear model…

In this note we address the problem of indirect adaptive (regulation or tracking) control of nonlinear, input affine dissipative systems. It is assumed that the supply rate, the storage and the internal dissipation functions may be…

We consider the problem of output feedback regulationfor a linear first-order hyperbolic system with collocatedinput and output in presence of a general class of disturbancesand noise. The proposed control law is designed through…

Through assembling the navigation parameters as matrix Lie group state, the corresponding inertial navigation system (INS) kinematic model possesses a group-affine property. The Lie logarithm of the navigation state estimation error…

In this paper, we present a novel guidance scheme based on model-based deep reinforcement learning (RL) technique. With model-based deep RL method, a deep neural network is trained as a predictive model of guidance dynamics which is…

This paper proposes a framework for adaptively learning a feedback linearization-based tracking controller for an unknown system using discrete-time model-free policy-gradient parameter update rules. The primary advantage of the scheme over…

While the identification of nonlinear dynamical systems is a fundamental building block of model-based reinforcement learning and feedback control, its sample complexity is only understood for systems that either have discrete states and…

Positive-negative pressure regulation is critical to soft robotic actuators, enabling large motion ranges and versatile actuation modes. However, it remains challenging due to complex nonlinearities, oscillations, and direction-dependent,…

In this paper, the D2-IBC (Data-Driven Inversion Based Control) approach for nonlinear control is introduced and analyzed. The method does not require any a-priori knowledge of the system dynamics and relies on a two degrees of freedom…

This paper presents a learning-based approach for impromptu trajectory tracking for non-minimum phase systems, i.e., systems with unstable inverse dynamics. Inversion-based feedforward approaches are commonly used for improving tracking…

A ship steering control is designed for a nonlinear maneuvering model whose rudder manipulation is constrained in both magnitude and rate. In our method, the tracking problem of the target heading angle with input constraints is converted…

Adaptive control is subject to stability and performance issues when a learned model is used to enhance its performance. This paper thus presents a deep learning-based adaptive control framework for nonlinear systems with…

This paper presents an optimal dynamic control framework for bounded Jacobian nonlinear discrete-time (DT) systems with nonlinear observations affected by both state and process noise. Rather than directly stabilizing the uncertain system,…

This paper develops a guidance law for nonlinear interception using input-output feedback linearization (IOL). The engagement between a pursuer and an evader is modeled using point-mass dynamics, and a baseline IOL-based guidance law is…

A robust entry guidance law without drag rate measurement is designed for drag-tracking in this paper. The bank angle is regarded as the control variable. First, a state feedback guidance law (bank angle magnitude) that requires the drag…

Sliding mode control (SMC) is a robust and computationally efficient model-based controller design technique for highly nonlinear systems, in the presence of model and external uncertainties. However, the implementation of the conventional…

Many real-world systems are governed by the time-dependent, nonlinear differential equations. Dynamics of an electrical system are also best described using the very equations. Being one of the preferred machines when using advanced control…