This paper presents an approach to apply L1 adaptive control for output regulation in the presence of nonlinear uncertainty in underactuated hybrid systems with application to bipedal walking. The reference model is generated by control Lyapunov function based quadratic program (CLFQP) controller and is nonlinear. We evaluate our proposed control design on a model of RABBIT, a five-link planar ...

This paper discusses an adaptive non-linear transform for image sequences that aims to generate a l1-norm preserving sparse approximation for efficient coding. Most sparse approximation problems employ a linear model where images are represented by a basis and a sparse set of coefficients. In this work, however, we consider image sequences where linear measurements are of limited use due to mot...

The operation of unmanned aerial vehicles (UAVs) in constrained indoor environments presents many unique challenges in control and planning. This thesis investigates modeling, adaptive control and trajectory optimization methods as applied to indoor autonomous flight vehicles in both a theoretical and experimental context. Three types of small-scale UAVs, including a custom-built three-wing tai...

This paper presents the L1 adaptive output feedback controller for a class of uncertain nonlinear systems in the presence of time and state dependent unknown nonlinearities, and multiplicative unmodeled dynamics. The L1 adaptive controller ensures uniformly bounded transient and asymptotic tracking for system’s both signals, input and output, simultaneously. The performance bounds can be system...

This study addresses the adaptive control and synchronization of the modified Chua’s circuit system with unknown system parameters. Adaptive control law is applied to suppress chaos to one of the three steady states. Adaptive control law is applied to achieve synchronization of two identical modified Chua’s circuit systems. Routh– Hurwitz criteria and Lyapunov direct method are used to study th...

this paper presents fuzzy and conventional performance of model reference adaptive control(mrac) to control a dc drive. the aims of this work are achieving better match of motor speed with reference speed, decrease of noises under load changes and disturbances, and increase of system stability. the operation of nonadaptive control and the model reference of fuzzy and conventional adaptive contr...