Model Reference Adaptive Stabilizing Control with Application to Leaderless Consensus

This article describes an extension of the well-known model reference adaptive control (MRAC) approach. The extension relies on explicitly involving the tracking error in the feedback control law: it is shown that including this term along with its appropriate extra adaptive gain allows one to handle possibly unstable reference dynamics....

An Underactuated Control System Design for Adaptive Autopilot of Fixed-Wing Drones

Effective design of autopilots for fixed-wing unmanned aerial vehicles (UAVs) is still a great challenge, due to unmodeled effects and uncertainties that these vehicles exhibit during flight. Unmodeled effects and uncertainties comprise longitudinal/lateral cross-couplings, as well as poor knowledge of equilibrium points (trimming points) of...

An Adaptive Disturbance Decoupling Perspective to Longitudinal Platooning

Despite the progress in the field of longitudinal formations of automated vehicles, only recently an interpretation of longitudinal platooning has been given in the framework of disturbance decoupling, i.e. the problem of making a controlled output independent of a disturbance. The appealing feature of this interpretation is that the...

Adaptive neural sliding mode control for heterogeneous ship formation keeping considering uncertain dynamics and disturbances

This paper investigates the formation keeping problem of heterogeneous ships with underactuated inputs, uncertain dynamics, and environmental disturbances. The control objective is to make the heterogeneous followers keep the desired formation while tracking a leader. To solve the problem effectively, a novel virtual leader–follower formation...

Adaptive Nonlinear Incremental Flight Control for Systems with Unknown Control Effectiveness

This article exposes that although some sensor-based nonlinear fault-tolerant control frameworks including incremental nonlinear dynamic inversion control can passively resist a wide range of actuator faults and structural damage without requiring an accurate model of the dynamic system, their stability heavily relies on a sufficient...

Prescribed-performance tracking for high-power nonlinear dynamics with time-varying unknown control coefficients

Prescribed-performance control (PPC) for high-power dynamics with time-varying unknown control coefficients requires to address two open problems: (a) given a Nussbaum function, which properties hold for the power of the Nussbaum function? (b) to avoid high gains, how to design a switching gain that increases only when the tracking error is...

A Directed Spanning Tree Adaptive Control Solution to Time-Varying Formations

In this article, the time-varying formation and time-varying formation tracking problems are solved for linear multiagent systems over digraphs without the knowledge of the eigenvalues of the Laplacian matrix associated with the digraph. The solution to these problems relies on an approach that generalizes the directed spanning tree (DST)...

Adaptive leader-follower synchronization over heterogeneous and uncertain networks of linear systems without distributed observer

A challenging task in network synchronization is steering the network toward a coherent solution, when the dynamics of the constituent systems are heterogeneous and uncertain. In this situation, synchronization can be achieved via adaptive protocols (with adaptive feedback gains or adaptive coupling gains, or both). However, as state-of-the...

Adaptive Control of Soft Robots Based on an Enhanced 3D Augmented Rigid Robot Matching

Despite having proven successful in generating precise motions under dynamic conditions in highly deformable soft-bodied robots, model based techniques are also prone to robustness issues connected to the intrinsic uncertain nature of the dynamics of these systems. This letter aims at tackling this challenge, by extending the augmented rigid...

Control for autonomous all-electric ships: Integrating maneuvering, energy management, and power generation control

In the last few years, autonomous shipping has been under extensive consideration by academic and industrial communities as well as governmental organizations due to several potential advantages that it introduces. Furthermore, due to the drastic environmental consequences of transport overwater, international organizations have enforced the...

Adaptive stabilization of impulsive switched linear time-delay systems: A piecewise dynamic gain approach

In the presence of discontinuous time-varying delays, neither Krasovskii nor Razumikhin techniques can be successfully applied to adaptive stabilization of uncertain switched time-delay systems. This paper develops a new adaptive control scheme for switched time-delay systems that can handle impulsive behavior in both states and time-varying...

A simultaneous adaptation law for a class of nonlinearly-parametrized switched systems

This letter proposes a new adaptive control method for a class of nonlinearly-parametrized switched systems that includes Monod kinetics and Euler-Lagrange systems with nonlinear in parameters form as special cases. As compared to the adaptive switched frameworks proposed in literature, the proposed adaptation framework has the distinguishing...

Adaptive control for autonomous ships with uncertain model and unknown propeller dynamics

Motion control is one of the most critical aspects in the design of autonomous ships. During maneuvering, the dynamics of propellers as well as the craft hydrodynamical specifications experience severe uncertainties. In this paper, an adaptive control approach is proposed to control the motion and trajectory tracking of an autonomous vessel...

Adaptive pulse width modulation design for power converters based on affine switched systems

In this work we propose a novel adaptive switching strategy for the design of pulse width modulation signals in power converters. Instead of an uncertain averaged model of the power converter, an uncertain switched model is considered, which can better represent the actual power converter dynamics. Uncertainties in the power converters...

Adaptive spacecraft attitude control with incremental approximate dynamic programming

This paper presents an adaptive control technique to deal with spacecraft attitude tracking and disturbance rejection problems in the presence of model uncertainties. Approximate dynamic programming has been proposed to solve adaptive, optimal control problems without using accurate systems models. Within this category, linear approximate...

Stability margins in adaptive mixing control via a Lyapunov-based switching criterion

This paper proposes a Lyapunov-based switching logic within the framework of adaptive mixing control (AMC), where a weighted combination of a family of candidate controllers can be inserted in the loop to regulate the output of an uncertain plant. The proposed AMC scheme employs a bank of parallel estimators, or multiple estimators, together...

Model and Sensor Based Nonlinear Adaptive Flight Control with Online System Identification

Consensus exists that many loss-of-control (LOC) in flight accidents caused by severe aircraft damage or system failure could be prevented if flight performance could be recovered using the valid and remaining control authorities. However, the safe maneuverability of a post-failure aircraft will inevitably be reduced due to the malfunction. Non...

An introduction to robot joint control methods

A vast amount of literature exists on the subject of robot control. However, most articles are based on only a limited number of control methods. In this report the basical principles of these control methods are described. Furthermore, some advantages and disadvantages of these methods are mentioned.