Enhancement of Robust Tracking Performance via Switching Supervisory Adaptive Control

Stability and performance in adaptive switching supervisory control

Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane

This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...

Minimum Switching Control for Adaptive Tracking†

The switching adaptive control method has been used for quite a few years to solve the adaptive stabilization and model reference adaptive control problems. However, a serious problem with the switching control method is that the number of “candidate” controllers can potentially be very large, especially for multi-input multi-output systems. In this paper, we consider a class of minimum-phase m...

Evaluation of Robust Performance of Fuzzy Supervisory Control Technique

This paper describes the robust performance of fuzzy supervisory control (FSC) approach for the seismic response control of cable-stayed bridges. FSC is a hybrid control method with the hierarchical structure of several sub-controllers and fuzzy supervisor. Each sub-controller is preliminarily designed to reduce the selected response of the structure only, and a fuzzy supervisor is introduced t...

New Supervisory Control Using Control-relevant Switching

This paper presents a new supervisory control scheme, which is based on a control-relevant switching logic. Unlike most of the existing switching methods considering only estimator performance, the proposed scheme takes both estimator and controller performance into account. As an index to the controller performance, an iISS (integral-Input-to-State Stability) Lyapunov function is employed; it ...