Adaptive control: stability, convergence, and robustness
Adaptive control: stability, convergence, and robustness
Input-Output-to-State Stability
SIAM Journal on Control and Optimization
Real Time Optimization by Extremum Seeking Control
Real Time Optimization by Extremum Seeking Control
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Robust and adaptive design of numerical optimization-based extremum seeking control
Automatica (Journal of IFAC)
3-D Source seeking for underactuated vehicles without position measurement
IEEE Transactions on Robotics
Wheel slip control via second-order sliding-mode generation
IEEE Transactions on Intelligent Transportation Systems
Using sliding modes in static optimization and nonlinear programming
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Brief Adaptive extremum seeking control of nonlinear dynamic systems with parametric uncertainties
Automatica (Journal of IFAC)
Analog neural nonderivative optimizers
IEEE Transactions on Neural Networks
Hi-index | 22.14 |
This paper addresses the design of a sliding mode tracking controller for single-input-single-output (SISO) uncertain plants with relative degree one and unknown control direction, i.e., with unknown sign of the high frequency gain (HFG). We demonstrate that, for a class of linear plants with nonlinear output function, it is possible to achieve global exact tracking using only output-feedback by combining a recently introduced periodic switching function with a well-known control parameterization of Model Reference Control (MRC). Simulation results are presented to illustrate the good tracking performance. One significant advantage of the new scheme is its robustness to time-varying control direction which is here theoretically justified for jump variations of the HFG and successfully tested by simulation in more general conditions. This property makes it adequate for solving extremum-seeking problems. Theoretical justification is presented for a class of systems with nonlinear output function using only output-feedback. An application to the wheel slip control in Antilock Braking Systems (ABSs) illustrates the practical viability of the proposed control scheme.