Online Optimization as a Feedback Controller: Stability and Tracking
نویسندگان
چکیده
منابع مشابه
An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation
This paper deals with two important practical problems in motion control of robot manipulators: the measurement of joint velocities, which often results in noisy signals, and the uncertainty of parameters of the dynamic model. Adaptive output feedback controllers have been proposed in the literature in order to deal with these problems. In this paper, we prove for the first time that Uniform Gl...
متن کاملA composite adaptive output feedback tracking controller for robotic manipulators
This paper provides a solution to the composite adaptive output feedback tracking control problem for robotic manipulators. The proposed controller utilizes an update law that is a composite of a gradient update law driven by the link position tracking error and a least squares update law driven by the prediction error. In order to remove the controller's dependence on link velocity measurement...
متن کاملUniform Global Asymptotic Stability of an Adaptive Output Feedback Tracking Controller for Robot Manipulators
Two important practical aspects of robot manipulators control are the difficulty of obtaining accurate velocity measurements and the uncertainty of parameters of the dynamical model. To deal with these problems, several adaptive output feedback tracking controllers have been proposed. In this paper, it is proved that, as long as the regression matrix is persistenly exciting, uniform global asym...
متن کاملOnline Stochastic Optimization under Correlated Bandit Feedback
In this paper we consider the problem of online stochastic optimization of a locally smooth function under bandit feedback. We introduce the high-confidence tree (HCT) algorithm, a novel any-time X -armed bandit algorithm, and derive regret bounds matching the performance of existing state-of-the-art in terms of dependency on number of steps and smoothness factor. The main advantage of HCT is t...
متن کاملAttacking a Feedback Controller
We consider the problem of generating sensor spoofing attacks on feedback controllers. The attacker has the option of remaining in a stealth mode – wherein it spoofs some sensor but only by an amount that is indistinguishable from noise. Later, the attacker can launch a full attack and try to force the system to get into an unsafe region. Using bounded model checking on an example adaptive crui...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Control of Network Systems
سال: 2020
ISSN: 2325-5870,2372-2533
DOI: 10.1109/tcns.2019.2906916