L 1 adaptive output feedback control for underactuated MIMO systems

L 1 Adaptive Output - Feedback Control Architectures by Evgeny Kharisov

This research focuses on development of L1 adaptive output-feedback control. The objective is to extend the L1 adaptive control framework to a wider class of systems, as well as obtain architectures that afford more straightforward tuning. We start by considering an existing L1 adaptive output-feedback controller for nonstrictly positive real systems based on piecewise constant adaptation law. ...

Output Feedback Sliding Mode Control for Mimo Discrete Time Systems

In this paper we present a new algorithm for discrete sliding mode control of linear multivariable systems using fast output sampling feedback. Here we make use of a single switching surface regardless of the number of inputs. The main contribution of this work is that instead of using the system states, the output samples are used for designing the controller. Numerical example demonstrates th...

Adaptive Consensus Control for a Class of Non-affine MIMO Strict-Feedback Multi-Agent Systems with Time Delay

In this paper, the design of a distributed adaptive controller for a class of unknown non-affine MIMO strict-feedback multi agent systems with time delay has been performed under a directed graph. The controller design is based on dynamic surface control  method. In the design process, radial basis function neural networks (RBFNNs) were employed to approximate the unknown nonlinear functions. S...

ADAPTIVE FUZZY OUTPUT FEEDBACK TRACKING CONTROL FOR A CLASS OF NONLINEAR TIME-VARYING DELAY SYSTEMS WITH UNKNOWN BACKLASH-LIKE HYSTERESIS

This paper considers the problem of adaptive output feedback tracking control for a class of nonstrict-feedback nonlinear systems with unknown time-varying delays and unknown backlash-like hysteresis. Fuzzy logic systems are used to estimate the unknown nonlinear functions. Based on the Lyapunov–Krasovskii method, the control scheme is constructed by using the backstepping and adaptive techniqu...

Underactuated Vehicle Control - Nonlinear Output Feedback Control and Research Plans