相关论文: Adaptation and nonlinear parametrization: nonlinea…

In this paper, we study the control of a class of time-invariant linear ensemble systems whose natural dynamics are linear in the system parameter. This class of ensemble control systems arises from practical engineering and physical…

This work deals with the problem of simultaneous regulation and model parameter estimation in adaptive model predictive control. We propose an adaptive model predictive control and conditions which guarantee a persistently exciting closed…

This paper proposes a new extended-state observer-based framework for adaptive nonlinear regulator design of a class of nonlinear systems, in the general nonequilibrium theory. By augmenting an extended-state observer with an internal…

We consider the problem of stabilization of a linear system, under state and control constraints, and subject to bounded disturbances and unknown parameters in the state matrix. First, using a simple least square solution and available…

This paper generalizes recent results by the authors on noninvasive model-reference adaptive control designs for control-based continuation of periodic orbits in periodically excited linear systems with matched uncertainties to a larger…

In this paper, we study a distributed optimization problem for a class of high-order multi-agent systems with unknown dynamics. In comparison with existing results for integrators or linear agents, we need to overcome the difficulties…

In this article, we discuss two algorithms tailored to discrete-time deterministic finite-horizon nonlinear optimal control problems or so-called deterministic trajectory optimization problems. Both algorithms can be derived from an…

We propose a novel framework for learning stabilizable nonlinear dynamical systems for continuous control tasks in robotics. The key idea is to develop a new control-theoretic regularizer for dynamics fitting rooted in the notion of…

Control schemes for dynamical systems typically involve stabilizing unstable periodic orbits. In this paper we introduce a new paradigm of control that involves `trapping' the dynamics arbitrarily close to any desired trajectory. This is…

This paper proposes a novel direct adaptive control method for rejecting unknown deterministic disturbances and tracking unknown trajectories in systems with uncertain dynamics when the disturbances or trajectories are the summation of…

Control systems involving unknown parameters appear a natural framework for applications in which the model design has to take into account various uncertainties. In these circumstances the performance criterion can be given in terms of an…

By parametrizing input and state trajectories with basis functions different approximations to the constrained linear quadratic regulator problem are obtained. These notes present and discuss technical results that are intended to…

We present a stabilizing output-feedback controller for nonlinear finite and infinite-dimensional control systems governed by monotone operators that respects given input constraints. In particular, we show under a detectability-like…

This paper develops some extensions to the work of [1] which studied the continuous-time adaptive output tracking control schemes with the reference output signal generated from an unknown reference model system. The presented extensions…

This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…

An iterative learning algorithm is presented for continuous-time linear-quadratic optimal control problems where the system is externally symmetric with unknown dynamics. Both finite-horizon and infinite-horizon problems are considered. It…

We consider a simple control problem in which the underlying dynamics depend on a parameter that is unknown and must be learned. We exhibit a control strategy which is optimal to within a multiplicative constant. While most authors find…

The control of large-scale cyber-physical systems requires optimal distributed policies relying solely on limited communication with neighboring agents. However, computing stabilizing controllers for nonlinear systems while optimizing…

For a network of interconnected nonlinear dynamical systems an adaptive leader-follower output feedback synchronization problem is considered. The proposed structure of decentralized controller and adaptation algorithm is based on…

In this paper, we study the convergence properties of an iterative algorithm for fast nonlinear model predictive control of quasi-linear parameter-varying systems without inequality constraints. Compared to previous works considering this…