4 papers · 2 filters
A Numerical Investigation of Extremum-Seeking-Based Command Generation for Adaptively Controlled Systems
Jhon Manuel Portella Delgado, Aidan Rice, Jacob C. Vander Schaaf +1
We develop an adaptive feedback control technique that combines an extremum-seeking-based command generator (ECG) with indirect adaptive control. In particular, ECG is used to gene…
A Constraint-Lifting Framework for Safe and Stable Nonlinear Control
Jhon Manuel Portella Delgado, Ankit Goel
This paper presents a constraint-lifting control framework for designing stabilizing controllers that guarantee the forward invariance of a prescribed safe set. State-of-the-art sa…
State-Constrained Control of Discrete-Time Nonlinear Systems via Constraint Lifting
Jhon Manuel Portella Delgado, Ankit Goel
This paper presents a constraint-enforcing control framework for a class of discrete-time strict-feedback nonlinear systems. The objective is to guarantee closed-loop stability whi…
Adaptive Constraint-Lifting Control with Stability and Invariance Guarantees
Jhon Manuel Portella Delgado, Ankit Goel
This paper develops an adaptive tracking controller for a class of nonlinear systems with parametric uncertainty subject to state constraints. The system is characterized by a stri…