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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| Soggetti: | |
| Accesso online: | https://arxiv.org/abs/2506.08042 |
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| _version_ | 1866908401875812352 |
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| author | Mirtaba, Mohammad Goel, Ankit |
| author_facet | Mirtaba, Mohammad Goel, Ankit |
| contents | This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classical discrete-time retrospective cost adaptive control algorithm. The particle swarm optimization framework automates the adaptive algorithm's hyper-parameter tuning. The proposed controller is numerically validated in the tracking problems of a double integrator and a bicopter system and is experimentally validated in an attitude stabilization problem. Numerical and experimental results show that the proposed controller is an effective technique for model-free output feedback control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_08042 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Continuous-Time Output Feedback Adaptive Control for Stabilization and Tracking with Experimental Results Mirtaba, Mohammad Goel, Ankit Systems and Control This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classical discrete-time retrospective cost adaptive control algorithm. The particle swarm optimization framework automates the adaptive algorithm's hyper-parameter tuning. The proposed controller is numerically validated in the tracking problems of a double integrator and a bicopter system and is experimentally validated in an attitude stabilization problem. Numerical and experimental results show that the proposed controller is an effective technique for model-free output feedback control. |
| title | Continuous-Time Output Feedback Adaptive Control for Stabilization and Tracking with Experimental Results |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2506.08042 |