Lyapunov function ≈ Lyapunov function
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Using machine learning to replicate chaotic attractors and calculate Lyapunov exponents from data Open
We use recent advances in the machine learning area known as “reservoir computing” to formulate a method for model-free estimation from data of the Lyapunov exponents of a chaotic process. The technique uses a limited time series of measur…
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Terminal Sliding Mode Control – An Overview Open
Sliding mode control (SMC) has been a very popular control technology due to its simplicity and robustness against uncertainties and disturbances since its inception more than 60 years ago. Its very foundation of stability and stabilizatio…
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Safe Model-based Reinforcement Learning with Stability Guarantees Open
Reinforcement learning is a powerful paradigm for learning optimal policies from experimental data. However, to find optimal policies, most reinforcement learning algorithms explore all possible actions, which may be harmful for real-world…
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Improvement of Frequency Regulation in VSG-Based AC Microgrid Via Adaptive Virtual Inertia Open
A virtual synchronous generator (VSG) control based on adaptive virtual inertia is proposed to improve dynamic frequency regulation of microgrid. When the system frequency deviates from the nominal steady-state value, the adaptive inertia …
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Adaptive Neural Control of Underactuated Surface Vessels With Prescribed Performance Guarantees Open
This paper presents adaptive neural tracking control of underactuated surface vessels with modeling uncertainties and time-varying external disturbances, where the tracking errors consisting of position and orientation errors are required …
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High-order fully actuated system approaches: Part III. Robust control and high-order backstepping Open
In this paper, three types of uncertain high-order nonlinear models are firstly proposed, namely, a single high-order fully actuated (HOFA) model with nonlinear uncertainties, an uncertain second-order strict-feedback system (SFS) and an u…
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Adaptive Fuzzy Control for Coordinated Multiple Robots With Constraint Using Impedance Learning Open
In this paper, we investigate fuzzy neural network (FNN) control using impedance learning for coordinated multiple constrained robots carrying a common object in the presence of the unknown robotic dynamics and the unknown environment with…
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High-order fully actuated system approaches: Part IV. Adaptive control and high-order backstepping Open
Three types of high-order system models with parametric uncertainties are introduced, namely, the high-order fully actuated (HOFA) models, and the second- and high-order strict-feedback system (SFS) models, which possess a common full-actu…
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Input-to-State Safety With Control Barrier Functions Open
This letter presents a new notion of input-to-state safe control barrier functions (ISSf-CBFs), which ensure safety of nonlinear dynamical systems under input disturbances. Similar to how safety conditions are specified in terms of forward…
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An Event-Triggered ADP Control Approach for Continuous-Time System With Unknown Internal States Open
This paper proposes a novel event-triggered adaptive dynamic programming (ADP) control method for nonlinear continuous-time system with unknown internal states. Comparing with the traditional ADP design with a fixed sample period, the even…
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Robustness of Control Barrier Functions for Safety Critical Control Open
Barrier functions (also called certificates) have been an important tool for the verification of hybrid systems, and have also played important roles in optimization and multi-objective control. The extension of a barrier function to a con…
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Distributed Secure Coordinated Control for Multiagent Systems Under Strategic Attacks Open
This paper studies a distributed secure consensus tracking control problem for multiagent systems subject to strategic cyber attacks modeled by a random Markov process. A hybrid stochastic secure control framework is established for design…
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Event-Triggered Optimal Control for Partially Unknown Constrained-Input Systems via Adaptive Dynamic Programming Open
Event-triggered control has been an effective tool in dealing with problems with finite communication and computation resources. In this paper, we design an event-triggered control for nonlinear constrained-input continuous-time systems ba…
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Event-Triggered Adaptive Dynamic Programming for Continuous-Time Systems With Control Constraints Open
In this paper, an event-triggered near optimal control structure is developed for nonlinear continuous-time systems with control constraints. Due to the saturating actuators, a nonquadratic cost function is introduced and the Hamilton-Jaco…
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High-order fully actuated system approaches: Part V. Robust adaptive control Open
A type of high-order fully actuated (HOFA) systems with both nonlinear uncertainties and time-varying unknown parameters is considered, and a direct approach for the designs of robust adaptive stabilising controllers and robust adaptive tr…
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Intelligent Optimal Control With Critic Learning for a Nonlinear Overhead Crane System Open
In this paper, for achieving the discounted optimal feedback stabilization of a nonlinear overhead crane system, we establish an intelligent control strategy to obtain the solution of the corresponding Hamilton-Jacobi-Bellman equation. Spe…
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Optimized Multi-Agent Formation Control Based on an Identifier–Actor–Critic Reinforcement Learning Algorithm Open
The paper proposes an optimized leader-follow er formation control for the multi-agent systems with unknown nonlinear dynamics. Usually, optimal control is designed based on the solution of the Hamilton-Jacobi-Bellman equation, but it is v…
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Fixed-Time Formation Control of Multirobot Systems: Design and Experiments Open
Time delays exist in network-connected systems. Especially for vision-based multi-robot systems, time delays are diverse and complicated due to the communication network, camera latency, image processing, etc. At the same time, many tasks,…
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Adaptive Event-Triggered Control Based on Heuristic Dynamic Programming for Nonlinear Discrete-Time Systems Open
This paper presents the design of a novel adaptive event-triggered control method based on the heuristic dynamic programming (HDP) technique for nonlinear discrete-time systems with unknown system dynamics. In the proposed method, the cont…
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Cooperative Output-Feedback Secure Control of Distributed Linear Cyber-Physical Systems Resist Intermittent DoS Attacks Open
This article studies a cooperative output-feedback secure control problem for distributed cyber-physical systems over an unreliable communication interaction, which is to achieve coordination tracking in the presence of intermittent denial…
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Trajectory Tracking and Path Following for Underactuated Marine Vehicles Open
In this paper, we present a control strategy for trajectory tracking and path following of generic paths for underactuated marine vehicles. Our work is inspired and motivated by previous works on ground vehicles. In particular, we extend t…
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A New Online Learned Interval Type-3 Fuzzy Control System for Solar Energy Management Systems Open
In this article, a novel method based on interval type-3 fuzzy logic systems (IT3-FLSs) and an online learning approach is designed for power control and battery charge planing for photovoltaic (PV)/battery hybrid systems. Unlike the other…
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Nonfragile Quantitative Prescribed Performance Control of Waverider Vehicles With Actuator Saturation Open
The existing prescribed performance control (PPC) strategies exhibit the fragility and nonguarantee of the prescribed performance when they are applied to dynamic systems with actuator saturation, and moreover, all of them are unable to qu…
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Predictor-Based Extended-State-Observer Design for Consensus of MASs With Delays and Disturbances Open
In this paper, we study output feedback leader-follower consensus problem for multiagent systems subject to external disturbances and time delays in both input and output. First, we consider the linear case and a novel predictor-based exte…
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Force Sensorless Admittance Control for Teleoperation of Uncertain Robot Manipulator Using Neural Networks Open
In this paper, a force sensorless control scheme based on neural networks (NNs) is developed for interaction between robot manipulators and human arms in physical collision. In this scheme, the trajectory is generated by using geometry vec…
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Adaptive Backstepping Sliding Mode Control for Boost Converter With Constant Power Load Open
The negative impedance characteristics of a constant power load (CPL) can easily lead to the instability of the DC bus voltage. To improve the stability of the DC bus voltage, an adaptive backstepping sliding mode control strategy for a bo…
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Adaptive Critic Designs for Event-Triggered Robust Control of Nonlinear Systems With Unknown Dynamics Open
This paper develops a novel event-triggered robust control strategy for continuous-time nonlinear systems with unknown dynamics. To begin with, the event-triggered robust nonlinear control problem is transformed into an event-triggered non…
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Stability Analysis for Incremental Nonlinear Dynamic Inversion Control Open
As a sensor-based control method, incremental nonlinear dynamic inversion (INDI) has been applied to various aerospace systems and has shown desirable robust performance against aerodynamic model uncertainties. However, its previous deriva…
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Real‐time implementation of adaptive neural backstepping controller for battery‐less solar‐powered PMDC motor Open
A low‐cost battery‐less solar‐powered PMDC motor using an adaptive backstepping Chebyshev neural network controller to track the desired speed for any change in irradiance and load torque is proposed in this paper. The neural network is us…
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Lyapunov-based Safe Policy Optimization for Continuous Control Open
We study continuous action reinforcement learning problems in which it is crucial that the agent interacts with the environment only through safe policies, i.e.,~policies that do not take the agent to undesirable situations. We formulate t…