Adaptive control designs for a two-body system

2003 ◽  
Author(s):  
Xiaoli Ma ◽  
G. Tao
Keyword(s):  
Adaptive Control ◽  
Body System ◽  
Control Designs

Adaptive Swarm Coordination and Formation Control

2020 ◽  
pp. 2041-2075
Author(s):  
Samet Guler ◽  
Baris Fidan ◽  
Veysel Gazi
Keyword(s):  
Adaptive Control ◽  
Graph Theory ◽  
Control Theory ◽  
Formation Control ◽  
The Other ◽  
System Behavior ◽  
Swarm Dynamics ◽  
Multi Agent ◽  
Control Designs ◽  
Swarm Coordination

Swarm coordination and formation control designs focus on multi-agent dynamic system behavior and aim to achieve desired coordinated behavior or predefined geometric shape. They utilize techniques from the control theory and graph theory literature. On the other hand, adaptive control theory is concerned with uncertainties in the system dynamics, and has structured frameworks for various types of plant models. Therefore, in case there are uncertainties in the swarm dynamics, adaptive control methodologies can be utilized to achieve the desired coordinated behavior and there exist remarkable works in this direction. However, connection among swarm coordination, formation control, and adaptive control theory brings some restrictions as well as advantages. Hence adaptive swarm coordination and formation control has been developed in limited aspects. In this chapter, we review some existing works of the adaptive formation control literature along with non-adaptive ones, and discuss the advantages of application of adaptive control frameworks to swarm coordination and formation control.

Adaptive-state feedback control for Lipschitz nonlinear systems in reciprocal-state space: Design and experimental results

2018 ◽  
Vol 233 (2) ◽  
pp. 144-152
Author(s):  
Assem Thabet
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
State Space ◽  
Digital Signal ◽  
State Feedback Control ◽  
Control Approach ◽  
Space Design ◽  
Lipschitz Nonlinear Systems ◽  
Control Designs ◽  
Processing Device

This article proposes a design of an adaptive control for nonlinear systems which satisfy the Lipschitz condition. The objective is the use of the new reformulation of reciprocal-state space form in adaptive control designs. The presented controller is composed of a state-derivative feedback approach with adaptive gains based on the Lyapunov stability theorem. The first control approach deals with the case of system stabilization. The second is an extension to the tracking problem. High performances are shown through real-time implementation with digital signal processing device (ARDUINO UNO R3 and MEGA 2560).

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