English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This work presents a new sufficient condition for synthesizing nonlinearcontrollers that yield bounded closed-loop tracking error transients despitethe presence of unmatched uncertainties that are concurrently being learnedonline. The approach utilizes contraction theory and addresses fundamentallimitations of existing approaches by allowing the contraction metric to dependon the unknown model parameters. This allows the controller to incorporate newmodel estimates generated online without sacrificing its strong convergence andbounded transients guarantees. The approach is specifically designed fortrajectory tracking so the approach is more broadly applicable to adaptivemodel predictive control as well. Simulation results on a nonlinear system withunmatched uncertainties demonstrates the approach.

Adaptive Robust Control Contraction Metrics: Transient Bounds in Adaptive Control with Unmatched Uncertainties