Adaptive control of a quadrotor aerial vehicle with input constraints and uncertain parameters
Sign Up to like & getrecommendations! Published in 2018 at "International Journal of Control"
DOI: 10.1080/00207179.2017.1309572
Abstract: ABSTRACT In this paper, we address the problem of adaptive bounded control for the trajectory tracking of a Quadrotor Aerial Vehicle (QAV) while the input saturations and uncertain parameters with the known bounds are simultaneously… read more here.
Keywords: quadrotor aerial; control; input constraints; constraints uncertain ... See more keywords
Obstacle avoidance flocking motion in multi-agent systems with limited sensing radius and heterogeneous input constraints
Sign Up to like & getrecommendations! Published in 2022 at "Advanced Robotics"
DOI: 10.1080/01691864.2022.2112075
Abstract: This paper addresses the leaderless and leader-followers flocking motion problems of multi-agent systems in a workspace with obstacles. We consider inertial agents with equally limited communication radius and heterogeneous input constraints. Using the notion of… read more here.
Keywords: flocking motion; radius heterogeneous; input constraints; agent systems ... See more keywords
Consensus-Based Formation Control of Multiple Nonholonomic Vehicles Under Input Constraints
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2022.3176195
Abstract: We address the open problem of consensus-based formation control of nonholonomic multiagent vehicles with pre-imposed input constraints. That is, the problem of stabilizing a group of second-order differential-drive nonholonomic robots, making them acquire a determined… read more here.
Keywords: based formation; consensus based; input constraints; control ... See more keywords
Parallel MPC for Linear Systems With State and Input Constraints
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2022.3188357
Abstract: This letter proposes a parallelizable algorithm for linear-quadratic model predictive control (MPC) problems with state and input constraints. The algorithm itself is based on a parallel MPC scheme that has originally been designed for systems… read more here.
Keywords: parallel mpc; state; input constraints; control ... See more keywords
Learning-Based Adaptive Control for Stochastic Linear Systems With Input Constraints
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2022.3232692
Abstract: We propose a certainty-equivalence scheme for adaptive control of scalar linear systems subject to additive, i.i.d. Gaussian disturbances and bounded control input constraints, without requiring prior knowledge of the bounds of the system parameters, nor… read more here.
Keywords: input constraints; control; adaptive control; learning based ... See more keywords
Learning-Based Adaptive Optimal Control for Flotation Processes Subject to Input Constraints
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2022.3171110
Abstract: This article presents a learning-based adaptive optimal control approach for flotation processes subject to input constraints and disturbances using adaptive dynamic programming (ADP) along with double-loop iteration. First, the principle of the operational pattern is… read more here.
Keywords: input constraints; learning based; flotation; optimal control ... See more keywords
Simultaneous Stabilization and Tracking of Nonholonomic WMRs With Input Constraints: Controller Design and Experimental Validation
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2018.2870350
Abstract: Considering input constraints and parameter uncertainty of the nonholonomic wheeled mobile robots, a new control law has been designed in this paper to solve the tracking and stabilization control problems simultaneously. The asymptotic convergence of… read more here.
Keywords: input constraints; control; stabilization; stabilization tracking ... See more keywords
Consensus of Second-Order Multiagent Systems With Both Velocity and Input Constraints
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2018.2879292
Abstract: This paper considers consensus control of second-order multiagent systems subject to both velocity and input constraints under general directed communication graphs. A new class of distributed consensus controller is proposed, which is shown that under… read more here.
Keywords: input constraints; order multiagent; velocity; velocity input ... See more keywords
Reinforcement Learning-Based Optimal Stabilization for Unknown Nonlinear Systems Subject to Inputs With Uncertain Constraints
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Neural Networks and Learning Systems"
DOI: 10.1109/tnnls.2019.2954983
Abstract: This article presents a novel reinforcement learning strategy that addresses an optimal stabilizing problem for unknown nonlinear systems subject to uncertain input constraints. The control algorithm is composed of two parts, i.e., online learning optimal… read more here.
Keywords: input constraints; input; reinforcement learning; systems subject ... See more keywords