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In this paper, we study the cooperative global adaptive output regulation problem for a class of nonlinear uncertain multi-agent systems subject to an uncertain leader system. In comparison with the case where the leader system is known exactly, we need to combine adaptive control and robust control techniques to deal with the unknown parameters in the leader system. By employing a distributed internal...
An observer-based adaptive control scheme for piezoelectric actuators is proposed. In the developed method the classical Duhem model is adopted to describe the hysteresis exhibited in the piezoelectric actuators. Due to the unavailability of the hysteresis output, an observer-based adaptive controller, with incorporation of a pre-inversion neural network compensator for the purpose of mitigating the...
This paper presents an adaptive inverse-dynamics-based control approach of a free-flying space robot manipulator in contact with a target satellite. A reduced-order dynamics model is derived by finding a common solution of all constraints via orthogonal projectors matrices. The proposed controller does not only show the capability to meet the desired specifications of motion and contact forces, and...
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