相关论文: Extremum Seeking Nonovershooting Control of Strict…

This paper proposes an event-triggered control scheme for multivariable extremum seeking of static maps. Both static and dynamic triggering conditions are developed. Integrating Lyapunov and averaging theories for discontinuous systems, a…

This paper addresses the design and analysis of an extremum-seeking (ES) controller for scalar static maps in the context of infinite-dimensional dynamics governed by complex-valued partial differential equations (PDEs) of Schrodinger type.…

Late-lumping feedback design for infinite-dimensional linear systems with unbounded input operators is considered. The proposed scheme is suitable for the approximation of backstepping and flatness-based designs and relies on a…

We develop a functional-analytic characterization of output tracking controllability for finite-dimensional linear systems. By formulating tracking as the surjectivity of the control-to-output map on suitable trajectory spaces, we show that…

Linearising the dynamics of nonlinear mechanical systems is an important and open research area. A common approach is feedback linearisation, which is a nonlinear control method that transforms the input-output response of a nonlinear…

This paper addresses the problem of optimally controlling nonlinear systems with norm-bounded disturbances and parametric uncertainties while robustly satisfying constraints. The proposed approach jointly optimizes a nominal nonlinear…

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 paper presents a novel extremum seeking control (ESC) approach for the vibrational stabilization of a class of mechanical systems (e.g., systems characterized by equations of motion resulting from Newton second law or Euler-Lagrange…

This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…

We propose a dual mode extremum seeking control design technique that achieves real-time optimization of an unknown measured cost function in a prescribed time. The controller is shown to achieve semi-global practical stability of the…

We present a method for finding optimal controllers for unknown, time-varying, dynamic systems which can be re-initialized from a given initial condition repeatedly, in which the performance measure is available for sampling with noise, but…

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…

We consider trajectory tracking for minimum-phase nonlinear systems in Byrnes-Isidori form using the model-following control (MFC) architecture. The tracking problem is motivated by a hierarchical control concept where a higher-level…

We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a…

This paper considers the leader-follower tracking control problem for linear interconnected systems with undirected topology and linear dynamic coupling. Interactions between the systems are treated as linear dynamic uncertainty and are…

We consider a three-dimensional problem of steering a nonholonomic vehicle to seek an unknown source of a spatially distributed signal field without any position measurement. In the literature, there exists an extremum seeking-based…

This paper considers the problem of determining an optimal control action based on observed data. We formulate the problem assuming that the system can be modelled by a nonlinear state-space model, but where the model parameters, state and…

This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…

This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…

Control-based continuation (CBC) is a general and systematic method to explore the dynamic response of a physical system and perform bifurcation analysis directly during experimental tests. Although CBC has been successfully demonstrated on…