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Although adaptive control offers a unique way to control dynamical systems without excessive reliance on their mathematical models, it is well known that nonidentical command profiles result in nonidentical closed-loop responses with such controllers, and therefore, it is of practical interest to study theoretical ways to construct predictable closed-loop responses when adaptive controllers are in...
Unmanned Underwater Vehicles (UUVs) are being deployed in advanced applications that require precise manoeuvring close to complex underwater structures such as oilrigs and subsea installations or moving objects such as ships and submarines. The effect of vehicle's hydrodynamic parameter variations is significant in such scenarios and in extreme conditions the UUV may experience loss of control. In...
For quadrotor aircraft, atmospheric turbulence, wind shear, and model uncertainty are important factors which affect the quality of flight, or even lead to a failure of flight. In this paper, we consider the control problem of quadrotor aircraft with linear or nonlinear disturbances including model uncertainty. By employing backstepping technique, adaptive backstepping controllers are proposed which...
In this work, a novel model free adaptive control method based on a mathematical algorithm named double successive projection (DSP-MFAC) is proposed, from which it can be inferred that conventional MFAC algorithm is only a special case of DSP-MFAC with the Cartesian product of the output and the input Hilbert space. For a general unknown nonlinear system, an innovative partial form dynamic linearization...
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