TY - GEN
T1 - Adaptive single action control policies for linearly parameterized systems ∗
AU - Ennasr, Osama
AU - Mamakoukas, Giorgos
AU - Castaño, Maria
AU - Coleman, Demetris
AU - Murphey, Todd
AU - Tan, Xiaobo
N1 - Funding Information:
∗This work was supported by the National Science Foundation (IIS 1319602, ECCS 1446793, IIS 1715714) †Address all correspondence to this author.
Publisher Copyright:
Copyright © 2019 ASME.
PY - 2019
Y1 - 2019
N2 - This paper presents an adaptive, needle variation-based feedback scheme for controlling affine nonlinear systems with unknown parameters that appear linearly in the dynamics. The proposed approach combines an online parameter identifier with a second-order sequential action controller that has shown great promise for nonlinear, underactuated, and high-dimensional constrained systems. Simulation results on the dynamics of an underwater glider and robotic fish show the advantages of introducing online parameter estimation to the controller when the model parameters deviate from their true values or are completely unknown.
AB - This paper presents an adaptive, needle variation-based feedback scheme for controlling affine nonlinear systems with unknown parameters that appear linearly in the dynamics. The proposed approach combines an online parameter identifier with a second-order sequential action controller that has shown great promise for nonlinear, underactuated, and high-dimensional constrained systems. Simulation results on the dynamics of an underwater glider and robotic fish show the advantages of introducing online parameter estimation to the controller when the model parameters deviate from their true values or are completely unknown.
UR - http://www.scopus.com/inward/record.url?scp=85076425428&partnerID=8YFLogxK
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U2 - 10.1115/DSCC2019-9134
DO - 10.1115/DSCC2019-9134
M3 - Conference contribution
AN - SCOPUS:85076425428
T3 - ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
BT - Advanced Driver Assistance and Autonomous Technologies; Advances in Control Design Methods; Advances in Robotics; Automotive Systems; Design, Modeling, Analysis, and Control of Assistive and Rehabilitation Devices; Diagnostics and Detection; Dynamics and Control of Human-Robot Systems; Energy Optimization for Intelligent Vehicle Systems; Estimation and Identification; Manufacturing
PB - American Society of Mechanical Engineers (ASME)
T2 - ASME 2019 Dynamic Systems and Control Conference, DSCC 2019
Y2 - 8 October 2019 through 11 October 2019
ER -