Immersion‐ and invariance‐based adaptive stabilization of switched nonlinear systems
Sign Up to like & getrecommendations! Published in 2018 at "International Journal of Robust and Nonlinear Control"
DOI: 10.1002/rnc.3864
Abstract: Summary This paper presents a novel framework to asymptotically adaptively stabilize a class of switched nonlinear systems with constant linearly parameterized uncertainty. By exploiting the generalized multiple Lyapunov functions method and the recently developed immersion… read more here.
Keywords: switched nonlinear; nonlinear systems; adaptive stabilization; immersion invariance ... See more keywords
Dual-quaternion immersion and invariance velocity observer for controlling asteroid-hovering spacecraft
Sign Up to like & getrecommendations! Published in 2019 at "Acta Astronautica"
DOI: 10.1016/j.actaastro.2019.04.044
Abstract: Abstract This paper investigates the velocity-free spacecraft pose tracking control in terms of dual quaternions, and its application to six-degrees-of-freedom (six-DOF) asteroid-hovering operation. First, a coupled linear velocity and angular velocity observer, driven by the… read more here.
Keywords: immersion invariance; velocity; spacecraft; velocity observer ... See more keywords
Adaptive Nonlinear Regulator Design via Immersion and Invariance
Sign Up to like & getrecommendations! Published in 2019 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2019.12.026
Abstract: Abstract This paper studies the adaptive output regulation problem for a class of nonlinear systems. Under a mild immersion condition, a novel adaptive internal model is proposed by using immersion and invariance (I&I) adaptive control… read more here.
Keywords: immersion invariance; invariance adaptive; nonlinear regulator; immersion ... See more keywords
Immersion and Invariance Based Composite Adaptive Control for Nonlinear Systems with Both Parametric and Non-Parametric Uncertainties
Sign Up to like & getrecommendations! Published in 2020 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2020.12.2079
Abstract: Abstract The design of an immersion and invariance (I&I) based composite adaptive control for a class of uncertain nonlinear systems is presented in this paper. The key feature of this control scheme lies in the… read more here.
Keywords: non parametric; parametric uncertainties; control; invariance based ... See more keywords
Adaptive immersion and invariance induced optimal robust control of unmanned surface vessels with structured/unstructured uncertainties
Sign Up to like & getrecommendations! Published in 2021 at "Ocean Engineering"
DOI: 10.1016/j.oceaneng.2021.109792
Abstract: Abstract This paper addresses the path-tracking performance improvement of unmanned surface vessels (USVs) through a novel adaptive immersion and invariance (I&I) based robust adaptive control algorithm. The substantial drawback related to the control of USVs… read more here.
Keywords: adaptive immersion; immersion invariance; control; surface vessels ... See more keywords
A New Immersion and Invariance Control and Stable Deep Learning Fuzzy Approach for Power/Voltage Control Problem
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2021.3137719
Abstract: Background: The use of renewable energies is extended due to their valuable features such as abundant and clarity. The microgrids that include the renewable energies are widely used in various applications such as power supplying… read more here.
Keywords: problem; control; power; deep learning ... See more keywords
Immersion and Invariance Stabilization of Nonlinear Systems Via Virtual and Horizontal Contraction
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2016.2614888
Abstract: The main objective of this paper is to revisit one of the key steps of immersion and invariance stabilizing controller design. Namely, the one that ensures attractivity of the manifold whose internal dynamics contains a… read more here.
Keywords: invariance stabilization; contraction; attractivity manifold; immersion invariance ... See more keywords
Immersion and invariance based adaptive command filtered backstepping control design for a class of SISO uncertain nonlinear systems in strict-feedback form
Sign Up to like & getrecommendations! Published in 2023 at "Transactions of the Institute of Measurement and Control"
DOI: 10.1177/01423312231166435
Abstract: In this article, an immersion and invariance based adaptive command filtered backstepping control method (I&I ACFBC) is proposed for a class of single-input and single-output (SISO) uncertain nonlinear systems in strict-feedback form. The problem of… read more here.
Keywords: command; immersion invariance; control; backstepping control ... See more keywords