This paper considers output estimator based fault detection problem for a class of nonlinear systems with unknown system parameters. Because observer design for such systems is extremely difficult if not impossible, output estimator design is used for the purpose of fault detection. In order to achieve output estimator design using adaptive approaches, a multi-input multi-output (MIMO) nonlinea...

This paper presents the design and optimization of a self-adaptive, a.k.a. underactuated, finger targeted to be used with collaborative robots. Typical robots, whether collaborative or not, mostly rely on standard translational grippers for pickand-place operations. These grippers are constituted from an actuated motion platform on which a set of jaws is rigidly attached. These jaws are often d...

Abstract This paper addresses the adaptive passivation of multi-input multi-output (MIMO) non-linear systems,with unknown parameters. The class of MIMO non-linear systems considered here has an explicit linear parametric uncertainty and it is made equivalent to a passive system by means of an adaptive controller with adaptive laws specially designed, which include suitable time-varying gains. T...

The design of most adaptive control schemes is based on the certainty equivalence approach. According to this approach, a control law that can meet the control objective is first developed assuming the plant parameters are exactly known. Then, an adaptive law for estimating the unknown parameters of a certain plant parameterization in chosen to generate on-line estimates which are then u...

A few of the well established methods of adaptive signal processing are modified and extended for application to adaptive control. An unknown plant will track an input command signal if the plant is preceded by a controller whose transfer function approximates the inverse of the plant transfer function. An adaptive inverse modeling process can be used to obtain a stable controller, whether the ...

In this paper, we propose an efficient individually adapted sequential Bayesian approach for constructing conjoint choice experiments. It uses Bayesian updating, a Bayesian analysis and a Bayesian design criterion for generating choice-set-designs for each individual respondent based on previous answers of that particular respondent. The proposed design approach is compared with two non-adaptiv...

This paper discusses the on-line frequency identification problem for a measured sinusoidal signal by using the adaptive method and filter theory. The proposed method is based on an identity between the sinusoidal signal and its second order derivative. For a set of chosen parameters, the proposed method is robust to the initial phase, the amplitude, and the frequency in a wide range. The conve...

A design method of adaptive consensus control of multi-agent systems composed of fully actuated mobile robots which are described as a class of Euler-Lagrange systems on directed network graphs, is presented in this paper based on the notion of inverse optimal H∞ control criterion. The proposed control scheme is deduced as a solution of certain H∞ control problem, where estimation errors of tun...